This paper describes a method to increase both the cleaning performance and speed of a peristaltic duct-cleaning robot, besides the cleaning of a real house duct. Duct piping ventilation is an important component for safeguarding indoor human health. However, dust accumulates inside such ducts during long-term use of ventilation systems. This dust leads to the generation of bacteria, dispersal of which can cause serious human health problems. Therefore, it is necessary to clean such ducts. The ducts used in factories, for example, have a large cross-sectional area and so are easy to clean by conventional duct-cleaning methods. However, as housing ducts have a small cross-sectional area and many curves, they are difficult to clean via the passive method of inserting a cleaning tool through the duct ports. For this reason, the authors attempted to develop a method of duct cleaning using a robot that imitates the peristaltic movement of earthworms. Herein, the authors examine the type and mounting position of the cleaning brush that produces the optimum cleaning efficiency. From this, we confirmed the duct cleanability of the peristaltic robot.

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