4607 Butterslide Drivetrain

[Ginger Power]

Here is 4607's Butterslide Drivetrain.

Butterfly Drive + Slide Drive = Butterslide Drive

Specs:
65 lbs including pneumatics, and all electrical components.
Everything can be built with simple power tools plus a mill.
10 Wheels including six 6" Duraomni wheels and four 4" Stealth Wheels.
In omni mode: the drivetrain has a 12:84 gear ratio which equates to 16 ft/s Adjusted Speed accoding to the JVN Calculator.
In traction mode: There is an additional 20:30 reduction which, along with the difference in wheel size equates to 7ft/s Adjusted Speed. When in traction mode, the strafe wheels are lifted off the ground.

With a strafe wheel at each end of the robot, there would seem to be many possible maneuvers this drivetrain would be capable of.

Now that I've fallen in love with the design, I need somebody to rip it apart and tell me what's wrong with it!