Professional design and development of an optimized and functional Mechatronic system, needs a multi step design process, including problem definition, benchmarking, conceptual and detailed design of mechanical system, motion and structural analysis, conceptual and detailed design of electronic architecture, development, assembly, calibration, test, and modifications. In this book, the author describes all of these steps for development of an industrial pole climbing robot for inspection of piping in oil, gas and petrochemical plants. Several conceptual designs are proposed, and according to the designed benchmark, the best concept for the goals of the project is introduced. Afterwards all steps of a systematic design of a Mechatronic system is described in detail. In addition to researchers who work on mobile robots, this book can be used as an example for students who wants to learn systematic design of Mechatronic systems.