[clean399]

1. The disadvantages of this design are that the front wheels are not powered. You are going to want to power anything touching the ground. Also two wheels in the back provides you with nothing if not hurting you, if you are trying to increase the surface area you are only decreasing the amount of pressure over the surface area.

2. try to get the wheels as far into the corners as possible and power all of them.

3. Power to the front can be achieved either by running chains from you gear boxes or by having gearboxes on each wheel.

4. you might want to consider driving a wide robot instead of a long robot.