Here's my progress on the next iteration of the drivetrain. The chassis will be sturdier when complete, but the module and powertrain are just about done. Currently, it weighs 30.5 lbs (the same as the original 4-CIM version).
Improvements in this version include:
-Simpler and lighter powertrain due to direct-drive gearbox
-Stiffer module with less wasted space
-Smaller, lighter pancake cylinders for switching between wheels
-Narrower side rails and more open bellypan
The outside plates will be attached with T-nuts (
http://goo.gl/XBWxdN) so they are removable for easy maintenance.