  This paper presents the arrangement of an in-pipe climbing robot that works
using a clever differential part to explore complex associations of lines.
Standard wheeled/continued in-pipe climbing robots are leaned to slip and take
while exploring in pipe turns. The mechanism helps in achieving the first
eventual outcome of clearing out slip and drag in the robot tracks during
development. The proposed differential comprehends the down to earth limits of
the standard two-yield differential, which is cultivated the underlying time
for a differential with three outcomes. The mechanism definitively changes the
track paces of the robot considering the powers applied on each track inside
the line association, by clearing out the prerequisite for any unique control.
The entertainment of the robot crossing in the line network in different
bearings and in pipe-turns without slip shows the proposed arrangement's
ampleness.

Robotics