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Re: Hex Couplers
I'm going to second Sanddrag on using Dewalt gearboxes in a holonomic drive. They are very compact, reliable, relatively easy to mount and will give you a good speed to drive at. A bonus is that they're shiftable on the fly too. I'm a little worried from your picture that you're currently geared too fast. I can't tell the ratio exactly but a single geardown from a CIM usually isn't enough. You're definitely on the right track. Keep with your design and it looks like you should have a nice holonomic set up.
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