pic: Gearbox in 2' by 1' tube. WCD

[philso]

If you will have four of these gearboxes, you might not save any weight. In a "normal" WCD, you have one gearbox on each side. With the scheme show, there will be two extra large gears plus the other small gears.

If you do not link the two gearboxes on each side, you will get the power of only one of the two CIM motors on each side for much of the time since only two wheels on each side will contact the carpet at any one time.