A permanent-
magnet micro-
robot consists of a casing (5), an axially magnetized permanent 
magnet (1), a radially magnetized permanent 
magnet (2), a non-magnetic miniature bearing (3) and a 
propeller (4), wherein, the head of the casing (5) is round and smooth, and a bottom (6) has a cavity (7) which is filled with lubricating 
grease; the axially magnetized permanent magnet (1) and the radially magnetized permanent magnet (2) are connected by the non-magnetic miniature bearing (3); the radially magnetized permanent magnet (2) and the 
propeller (4) are fixed via an axle (8) of the 
propeller. An outside 
magnetic field is generated by a rotation 
magnetic field device and a uniform 
magnetic field device, wherein, the rotation magnetic field consists of three groups of perpendicular Helmholtz coils, a 
sinusoidal current source and a phaser; the uniform magnetic 
field device consists of three groups of perpendicular Helmholtz coils and three groups of 
direct current sources. Under the effect of the rotation magnetic field, the 
robot rotates with the radially magnetized permanent magnet (2) and produces the axial driving force to drive; at the same time, under the deflecting guidance of the uniform magnetic field, the 
robot realizes flexible steering and moves along an expected locus.