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Help with tank robot calculation & DC Motors Selection

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fandood:
Good Morning Everyone,
   I was upgrading one of my inspection robot my first version was a wheeled one.Now i want to work with tank treads but i can't get to the correct calculation for tread what size of sprockets and how much torque and power needed for the motors especially i intended to go vertically inside a pipe.
I will be grateful if someone helps.
Thanks in advance.
Fando

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