Peristaltic robots suit confined and granular settings, yet work specifically targeting the lunar subsurface is scarce and still maturing. Pipeline designs rarely control payload attitude, while soft granular systems trade torque and vacuum/dust robustness for conformability. We present the concept, modeling, and early evaluation of a stackable, servo-actuated 6-RRU module that delivers peristaltic propulsion with active orientation and preserves a hollow core for an Archimedean screw that conveys excavated cuttings, reduces frontal resistance, and sustains peristaltic throughput in regolith. We derive leg-wise closed-form IK, assembly-level FK/differential kinematics, and enforce servo and universal-joint limits to define a safe workspace. A two-layer controller fuses joint and IMU feedback to regulate attitude while generating sensor-agnostic peristaltic sequences. Bench tests confirm vertical kinematics and repeatable advance, while simulations characterize active-orientation feasibility and the tilt–stroke trade-off. Together, they establish a reproducible basis for multi-module stacking and forthcoming regolith tests.