[Tytus Gerrish]

what's going to support the side load of the wheel? . looks like all the weight of the robot is going to be forced onto the bottom planet gear and In all my experience gears don't like to be smashed together like that at all. , also if that wheel takes any side load it's going to come off. both of those things can be solved with a big bearing. but Where Re you going to get one? those big bearings are hard to find, not to mention expensive. Thats a cool design but if i was planing on making a robot i would use something much simpler and less expensive.