Air conditioning equipment using duct piping is used to ventilate residences. If this residential ducting is used in a dirty environment, it will lead to adverse effects on human health. Therefore, a method to clean the ducts is required. However, with existing duct cleaning tools, it is difficult to clean the duct perfectly. Therefore, a duct cleaning robot is required. In previous research, we focused on a peristaltic crawling motion type robot, and developed a type of drive brush mounting. Cleaning and driving experiments confirmed a cleaning efficiency of 97.2%; however, the speed fell below the target value of 4.6 mm/s. In this paper, we propose a cleaning joint that strives for both cleaning efficiency and driving speed. We aim to realize an optimal duct cleaning robot by comparing the drive brush mounting types with a robot equipped with the proposed method.