Here is the 3D model of the complete tread module assembly. There will be one of each on each side of the robot. The module consists of a 6 inch diameter drive wheel in the center that is driven by a motor through a gearbox. The drive wheel drives the rubber tread that wraps around the module. On the bottom of the module are 8 idlers (unpowered wheels) that act as the robot's suspension system. This system is designed to allow the robot to efficiently maneuver through rough terrain and drive over small obstacles.
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