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That looks pretty great!The concavity of the wheels doesn't seem that deep -- how do you avoid the treads coming off when you turn in place?
Do you think that a v-belt would have enough traction on its own to use as tread? If not I'm sure I could find some rubber tape or do something similar to the bike tires. I was thinking I might not even have to splice/staple if I can get a close fit then just add a tensioner.