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Wheels
I suggest tracks myself, that is what we are using. If you use chain on the tracks watch binding it up when you turn. Ask Adam about their robot last year. They had a great design and yes it was totally Lexan but I think they had a problem turning. But if you choose to use wheels I would suggest going with the ones for motorized wheelchairs as they have tread on them if not you can always cut tread or attach some form of cleat onto the wheel.
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