The axial frictional pulling force and the minimum thickness of mucus film were analyzed and calculated in detail when rectangular or trapezoidal cylindrical screw was being adopted in microcomputer.

• 详细分析计算了微型机器人在采用矩形和梯形圆柱螺旋时的轴向摩擦牵引力和最小粘液膜厚度。