NBC was looking for something to fill the gaping void in their Sunday schedule, created when they had dropped The Wonderful World of Disney (nee Disney's Wonderful World) in 1981. They seemed to find a real winner that would appeal to kids and parents alike, as the Disney shows did, but it just wasn't meant to be.
Voyagers! was a spiritual successor to Irwin Allen's Time Tunnel, which had been cancelled 15 years earlier. It was also the first primetime series to be produced by the television arm of children's book publisher Scholastic, in conjunction with Universal. Jeffrey Jones (Meeno Peluce, ex-The Bad News Bears) might never be mistaken for Mr. Peabody's sidekick, Sherman, only because he was already well versed in history (his uncle was a history professor), though Phineas Bogg (Jon-Erik Hexum) could've come off the same assembly line as Stephen Cannell's Greatest American Hero, largely because his instruction manual for his time device, the Omni, was lost when he met Jeffrey (the dog ate it).
If NBC was smart, they would've repurposed the series on Saturday mornings, but there was no need at the time, though using it as a summer replacement might not have been so bad. The series was cancelled after 1 season, and was last seen on Retro a couple of years ago, airing on Sunday afternoons.
Edit, 5/19/23: NBCUniversal put in a copyright claim, so the video's gone. In its place is a screenshot.
This was appointment television at my house, since my dad was a bit into history and a little science-fiction.