Based on intestinal biopsy diagnosis demand, the gasbag anchoring mechanism and biospy mechanism were designed. The intestinal capsule endoscopy robot was developed which could move autonomously in the intestine and conduct video examination and biopsy. Experimental results show that the petals airbags can effectively increase the clamping force to 1.56 N, while reducing the volum. The shear force of biopsy forceps is greater than 10 N, which meets the requirements of visualization, and the biopsy motion is repeatable. With wireless power system, the system is stable and reliable.