[Jizvonius]

Hey nice design. One way to reduce the range of loading on the gears would be to find a way to support the wheel on it's own bearing. It may have to be a needle roller bearing with a large inner diameter to keep the design compact but it should work out with a bit more structure. That way the wheel loads go to the bearing and the gears don't have large time varying loads that will occur even without impact with the present design.

Also, you can get away with using fewer gears now that the loads don't have to be distributed that much. That should save a little on weight.