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In the first part, the paper presents a classification of the in pipe inspection robots and the features of the mechanisms used in the design of the pipe inspection robots with adaptable structure. The authors’ contribution to the development of three wheeled minirobots with two four bar mechanisms placed on two parallel planes, is presented is the second part of the paper.

In this paper the authors are pr directional mobile robot, developed for educat purposes. The omni-directional motion capab are due to its special Mecanum wheels. Th general information about Mecanum omni-d mechanical design aspects of the wheels and th describes the kinematic and dynamic models o control system.

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