Abstract: In order to make a novel fish-like flexible micro-robot actuated by ICPF meet well with the needs of microsurgery of bloodvessel and industrial pipeline inspection in such area as medical treatment and industry, theoretical analysis for the micro-robot is needed.For analyzing the characters of the robot and improving the reliability and feasibility of the robot,a dynamic model of the micro-robot is established by applying Kutta-Joukowski theorem.Then,the velocity analysis of the micro-robot in the time range of 3 second is investigated.At last the relation between the swing angle's amplitude,phase and frequency of the robot's tail and the velocity of the micro-robot is theoretically analyzed and several simulation graphs about the microrobot are performed.