Research on Vertical Climbing Technology of Peristaltic Robots Based on Trapezoidal Screw Structure

The trapezoidal screw rod is widely used in mechanical systems due to its rigidity and controllability. This article studies a peristaltic robot based on a trapezoidal screw drive structure for vertical climbing. By analyzing the characteristics and working principles of the trapezoidal screw drive structure, a corresponding kinematic model and a dynamic control strategy are designed. Experiments show the robot can crawl steadily within a vertical pipe, demonstrating an excellent vertical climbing performance.