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The arrangement of an in-pipe climbing robot that works using a sharptransmission part to explore complex relationship of lines. Standardwheeled/continued in-pipe climbing robots are leaned to slip and take whileresearching in pipe turns. The instrument helps in achieving the reallyunavoidable consequence of getting out slip and drag in the robot tracks duringprogression. The proposed transmission likes the useful uttermost scopes of thestandard two-yield transmission, which is fostered the fundamental time for atransmission with three outcomes. The instrument decisively changes the trackvelocities of the robot considering the powers applied on each track inside theline relationship, by getting out the fundamental for any wonderful control.The entertainment of the robot crossing in the line network in differentdirection and in pipe-turns without slip shows the proposed course of action'sampleness.

Wireless Self-Powered Visual and NDE low-Cost Inspection System For Small Diameter Live Gas Distribution Mains