[Deke]

We do plan on riveting it together, and I agree that the corner brackets are very tight. We may be able to get at them with the hand rivet tool, definitely not with the air riveter.

There wasn't really any calculations done for wheel layout as far as versa W and DT tread go, more of a thought process. Since the middle 4 wheels are doing a majority of the work, the DT tread was designed by Vexpro to have better wear characteristics than the W tread. People had wear issues with the W tread last year. With very little work being done with the outside wheels, they should last longer and give better traction during a sticky situation. Now this is not geared to push, it should be able to cook the breakers for at least 4 seconds to get out of situations. When pushing into another robot the base should rock back or forward to get the better coefficient of friction of the W treads (1.2 versus 1.0 according to Vexpro) into action. Otherwise the outside wheels are useless. So maintenance and pushing were the considerations for the wheels. A 6wd may come to different conclusions since the middle wheel is in action 100% of the time.

I was able to find 6061 T6 aluminum in the 3x1.5" variety, and the gears packaged quite nicely with the 1.5" wide tube. A few delrin spacers should finish the gearbox off.