The design for the wheels is based off of the Perseverance model, using wheels of 20cm in diameter.
The wheels are designed with an inner structure that allows attachment to the motors using a 6mm shaft connector for DC motors, with 5 spokes that connect the connection structure with the inner wheel. The 5 spokes have a rectangular profile of 10x10mm, and the inner wheel is meant to be printed in PLA.
Covering this inner wheel, an outer tyre design printed in TPU is attached to the wheel itself, providing the interface between surface and rover. The outer tyre has a thickness of 9.5mm.
