  This paper presents the plan of an in-pipe climbing robot that works
utilizing a novel Three-Output Open Differential(3-OOD) component to navigate
complex organizations of lines. Customary wheeled/followed in-pipe climbing
robots are inclined to slip and haul while navigating in pipe twists. The 3-OOD
component helps in accomplishing the original aftereffect of wiping out slip
and drag in the robot tracks during movement. The proposed differential
understands the practical capacities of the customary two-yield differential,
which is accomplished the initial time for a differential with three results.
The 3-OOD component precisely tweaks the track rates of the robot in light of
the powers applied on each track inside the line organization, by wiping out
the requirement for any dynamic control. The recreation of the robot crossing
in the line network in various directions and in pipe-twists without slip shows
the proposed plan's adequacy
