Driving Mechanisms, Motion, and Mechanics of Screw Drive In-Pipe Robots: A Review
Round 1
Reviewer 1 Report
In which type of robots (line 44) are caterpillar robots located?
Figure 1 shows several prototypes of the SDIRs proposed and fabricated by the authors. Why these solutions have not been more closely discussed and characterized due to mechanism design, driving principle, and motion and mechanical behaviors?
In my opinion, enlarge the figure 1 and figure 8, because they are not very legible.
Author Response
Caterpillar robots are similar to inchworm robots, as described in line 45.
The driving mechanisms, motion, and mechanics of prototypes in Figure 1 have been discussed and characterized in the manuscript. See red words for details.
Figures 1 and 8 have been enlarged.
Reviewer 2 Report
Paper gave a good overview of screw drive based robotic systems and techniques. There were a few minor typographical and issues with how data was expressed (see the attached document).
Comments for author File: 
Comments.pdf
Author Response
The typographical and issues with how data was expressed have been revised in the manuscript. We appreciate the comments and suggestions greatly, which are valuable in improving the quality of our manuscript.
