The museum acquired the cars earlier this month.
They were made by Ron Thomas – a former Guy Motors designer who lived in Shropshire and was known for working on the Wulfrunian bus and also designed the first JCB excavator cab.
Once he retired in 1991 he made the pedal cars to pass the time but also for the delight of his grandchildren.
He died earlier this year at the age of 93 and the family decided to place them permanently in the heritage museum where they can be enjoyed.
The vehicles, an 1895 Peugeot, a Rolls-Royce Silver Ghost, a Ford Model T pick-up, an Austin 7 Chummy and a 1950 Morris Minor Junior, are now on display for visitors to admire at the centre once lockdown has been lifted.
Alec Brew, volunteer at the centre, said: "We thought they were wonderful. They sort of tell the history of motoring in five cars.
He added: "We are very glad to have them.
"We managed to find space for four immediately, the fifth will have to have a stand built for it.
"Our smallest member, Wilf, aged nine, test drove the Morris and it brought a huge smile to his face.
"They will be on display when Boris releases us from our lockdown. Covid-permitting we would like to get them outside so the kids can have a go."
Alec Brew (07434697879