[Yannick B]

Bryce Paputa, yes it is a heavy frame at the moment, but 54 pounds does include motor controllers, PD board, CRIO, router and a basic pneumatic system (not shown in the picture). We will be looking for ways to reduce the weight in the future.

julianpowell, we decided to use pneumatic wheels for two reasons, tractions and bounce. We are experimenting with the pressure in each wheel to give the robot the best traction (so far, the best result is centre wheels at 40 psi, outer wheels at 25 psi). Pneumatic wheels also give a pseudo suspension to the frame.

OWilliamson, a single gearbox that includes both cim motors weighs 8.15 pounds. It is heavier than a ball shifter by 1.29 pounds. However, it is much lighter than a AndyMark super shifter.

Infinity2718, you are probably right about the fillets, we had the plates manufactured for us, so I am not sure what procedure they used.
The drivetrain is extremely robust with its inter-lapping plates and the gearbox, it also has a very low centre of gravity and is quite manoeuvrable. We are extremely pleased with it.