This paper proposes new methodology to design and development of In-Pipe\r\nInception and Maintenance Robot (IPIMR) mechanism. Which could propel in T, U and L\r\njunction bends in In-pipe, of varying diameter ranges from 16-inch to 29.5-inch in all\r\ndirection (horizontally and vertically). It can be applied in the areas of In-pipe inspection for\r\nidentifying the cracks, corrosion, scale formation etc., and Maintenance of pipe lines. All\r\nmajor components have been designed, modelled and assembled and then virtually tested in\r\nall conditions using SOLIDWORKS 15.

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