[z_beeblebrox]

Originally Posted by AllenGregoryIV

The biggest issue with this is it makes it harder to do your reductions.

It's not too hard with the central gearbox design since you can do a second reduction with the belts to the modules. From JVN's calculator, a 12:60 reduction in the gearbox and a 24:42 reduction with the belts gives adjusted speeds of 6.4fps on the Colson wheels and 12.9 fps on the omni wheels.

Originally Posted by Joe G.

Have you considered using pancake cylinders for module actuation to save some space and weight?

I'll look into doing that.

I noticed a few problems with my design that I also need to fix in the next iteration: the belts to the modules run into the bellypan, the bolt that serves as an axle for the gearbox is not adequately supported and the bottom two CIMs in each gearbox can't be installed or removed once the chassis is assembled.