Abstarct: In this thesis, a dynamic analysis of the new mechanism of universal wheels for a three-wheeler robot has been developed to realize the ability to move in all directions. In this mechanism, two gears with conical gears are used. One of them is in the robot and the other in the wheels and their task is to change the direction. The gears are embedded so that the engine moves the first and second motors, respectively, to the front or rear and sides of the engine, and the engine number three rotate the robot to rotate the other directions. In the kinematic study of the robot, the relationship between the coordinates in the arctic space is derived from the coordinates in the workspace or Cartesian. For dynamical analysis of the robot, using the Euler-Lagrange equation, motion relations have been obtained, for which the kinetic energy, the potential and the generalized force for all robot motion states are calculated. To verify the equations, the mathematical software has been used to simulate the equations. For this purpose, the robot has moved in optimal directions by applying specific moments to the engines, indicating that the kinematics and the extracted dynamics are valid.