In-pipe inspection robots are crucial for ensuring the structural integrity of offshore pipelines, particularly in the pre-salt region. Among the locomotion strategies applied to in-pipe robotic systems, legged mechanisms have shown outstanding adaptability to the irregular geometries and harsh internal conditions of pipelines. Building upon previous studies on the technological potential of walking mechanisms and the development of a single-leg prototype, this paper presents the design, additive manufacturing, and assembly of a three-legged motor unit with legs positioned 120 \(^\circ \) apart. This tripedal configuration enables continuous and stable locomotion within pipes, offering an innovative solution for future in-pipe robotic systems. The manufacturing process, mechanical design, and preliminary tests are discussed, highlighting the feasibility and performance of the prototype. Results indicate the system’s potential as a modular propulsion unit for inspection robots in complex offshore environments.