Intelligent in-pipe machine adjustable to inner pipe diameter

The paper concerns to area of in-pipe locomotion. Traditional conceptions of in-pipe machines tend to wheels slipping or self-blocking. Several design stages of improved in-pipe machine are shown. Design of in-pipe machine coming from conception of computer controlled electromechanical device. Final design solution will be able to locomote inside pipe with variation of inner diameter in range from 100 to 200 mm with automatically adjustment to pipe diameter.