In this paper, conception, design, modeling, and prototyping of a multi-task 4 DOF pole climbing/manipulating robot are discussed. The hybrid serial/parallel mechanism, with 2 translations and 2 rotations provides a good solution for a pole climbing and manipulating robot which can travel along tubular structures with bends, branches and step changes in cross section. It is also able to perform manipulation, repair and maintenance tasks after reaching the target point on the structure. After discussing conceptions of the mechanism, modeling and some aspects of the detailed design are presented. Then some of the issues with the prototyping of the robot mechanism are discussed.