450RPM Drivetrain Center Traction

This is a VEX V5 drivetrain I designed in CAD and then built in metal. The base uses omni wheels on the outer positions with traction wheels toward the center, so the robot holds ground well while still turning cleanly. Each side is driven through a gear train off multiple motors and geared for 450 RPM, and the CAD drawing breaks the frame into a left side, a right side, and center braces that tie the two rails together. The finished chassis has the motors, gears and rubber banding all mounted up.