In-Pipe Inspection Robots (IPIRs) have been a common alternative to human and endoscopic visual pipeline inspection for the past 3 decades. In addition to inspection, these robots are also capable of other tasks, such as drilling, data logging, and object retrieval. The ability of an IPIR to perform such demanding tasks is typically contingent on its payload capacity, radial range, portability, along with its in-pipe steerability . In this study, a new IPIR is proposed with a design aimed at expanding its potential applications beyond inspection. The methodology espoused to address the aforementioned issues commences with the development of a preliminary design of an IPIR, the sizing of a number of whose parts is determined based on the optimization problem formulated in this work. The optimization issue maximizes two contradictory objective functions, the payload capacity, and the radial range, under a number of geometric, mechanical, and stability constraints. The proposed robot’s portability is enhanced by making the robot batterypowered rather than cable-powered, bypassing the liability imposed by the handling and transportation of the robot’s cable spool. The optimization problem in this study is formulated as a Multi-Objective Optimization Problem (MOOP). The problem's Pareto front is solved for using the NSGA-II implemented by MATLAB's gamultiobj(). A single solution is selected from the obtained Pareto front and is validated for implementation as the final design of the proposed robot with a theoretical payload capacity of 11.035 kg and a radial range of 32.405 mm. The robot is then manufactured and tested to validate the results obtained theoretically in terms of its payload capacity and radial range. The experimental results are found to be consistent with the theoretically reported ones with a maximum percentage difference of 3.84% . Finally, a number of recommendations are suggested in response to issues encountered during the testing of the robot. Furthermore, other recommendations are made which aim to introduce improvements over the achievements of the present work pertaining to the automation of the proposed robot’s control, its inpipe steerability, as well as its applicability to active pipelines.