Design and experimental study of a biomimetic earthworm-like peristaltic robot mechanism

Underwater archeology faces significant challenges in sampling sunken ships and buried artifacts, including high operational risks, low efficiency, high deployment costs, and potential damage to underwater cultural heritage. To address these issues, this paper presents the design and development of a biomimetic peristaltic robot inspired by the motion of earthworms. The robot comprises three primary components: a drilling mechanism, a peristaltic mechanism, and a transmission mechanism. The peristaltic mechanism features a multi-segment, serially connected Sarrus linkage module, with motion transmission achieved through a cylindrical cam mechanism. The profile of the cylindrical cam groove is precisely calculated based on the planned motion sequence. Additionally, an optimization scheme incorporating a dual-roller follower configuration for each slider unit is proposed to minimize sliding resistance at the ring slider of the Sarrus linkage module. To enable passive bending and passive steering, the cylindrical cam is segmented and connected via flexible shafts, bellows, and compression springs. A static analysis of key components is performed to ensure structural integrity and reliability. Finally, prototype experiments validate the robot’s capabilities in peristaltic motion, bending, and burrowing.