The development of automatic robots is one of the research fields in flexible manufacturing systems (FMS) aiming to carry out tasks in the logistic areas. This reduces human intervention, as well as automates repetitive and/or inappropriate tasks. This article presents the design and mathematical models of an AGV, Automated guided vehicle, as part of FMS. It proposes a mechatronics design methodology to the areas of mechanics, electronic and control using CAD and CAE tools.