[dradius]

well, just as a note, we had the motor and all the gear reduction done on the wheel base for last years robot(exactly like in that picture!). the biggest concern then lied in the fact that different gear reductions were used on two of the wheels (cause there were two chalupas and 2 drill motors) and thus were different sizes and all that good junk. the gear reduction now, however, should be outside the wheelbase altogether and mounted on the base with a chain going to the wheels. the only thing that then changes would be the use of bevel gears on the inside of the wheelwell