Robotic manipulators are present in the industry as they provide a lot of activities, increasing efficiency and productivity of the company, they are also used to solve specific problems, such as robotic modules YNAMI project - ING1278 and construction of a robotic platform exploration and repair of plumbing pipes, remotely operated, the characteristics of this project should be studied in detail for the design of the modules. The choice of engines is an essential part of any design, in this work the kinematic and dynamic study of these two modules is presented, these can be set in motion handlers on a given path, and get results from application of forces / torque on each of the joints, and the respective force / torque generated by the engines used; these studies were implemented in a 3D environment with SimMechanics® Matlab® complement.