[s_forbes]

How much does your current robot weigh? What gear ratio?

A light drivetrain will tend to 'burn out' the wheels on carpet when starting from a stand still or changing direction. This is not so much the case when it's weighed down with mechanisms and bumpers. If you are using a low gear ratio (by which I mean: slow top speed) and lots of power (you mentioned 3 CIM gearboxes) the effect is more noticeable... I suspect that slipping the wheels on carpet would give the accelerated wear you're seeing.