How do I hook up the motors to the wheels?

[Billfred]

Originally Posted by Austin.Loach

The whole robot is going to be about 3 feet tall and a foot and a half wide and long. The whole thing made of aluminum (idk how much that would weigh). And the arm would have to move nothing but itself. I will have 4 motors for the drivetrain and one for each arm.

This helps!

That's more or less the size class of a FIRST Tech Challenge robot (their size limit is 18" cubed). That says to me that a NeveRest motor is probably the scale to be using for this. Not that you can't use a CIM or other motors, but they're probably going to be overkill.

I can't say for certain without seeing the design, but I'd bet a few judiciously-used NeveRest motors and some 1/16" wall aluminum shapes (okay, maybe a little 1/8" in high-load areas) would get you pretty far.