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Designing an in-pipe climbing robot that manipulates sharp gears to studycomplex line relationships. Traditional rolling/happening pipe climbing robotstend to slide when exploring pipe curves. The proposed gearbox connects to thefarthest ground plane of a standard dual output gearbox. Instrumentation helpsachieve a very well-defined deceleration sequence in which the robot slides andpulls as it moves forward. This instrument takes into account the forcesexerted on each track within the line relationship and intentionally modifiesthe robot's track speed, unlocking the key to fine-tuning. This makes the 3output transmissions take a lot of time. Deflection of the robot on a pipenetwork with various bearings and non-slip pipe bends demonstrates theintegrity of the proposed structure.

Design and Development of Miniature long distance multi-moving robots for 3D Smart Sensing for underground Pipe Inspection