[Nuttyman54]

Looks good. The first thing I noticed was the 4 CIMs on planetaries, rather than a more traditional 2 motor gearbox. I also see a hole for a middle wheel, but it appears either to be unpowered or powered from two sides. Is there actually a 6th wheel or are you looking at a more exotic drive system (mecanum perhaps)? I like the manipulator, and I'll be curious to see it in action.