This robot is equipped with powerful wheelchair motors. The default configuration has a speed of 272 fpm and a payload of up to 200 lbs. With different configurations, speed can range from 255 to 408 fpm and payload can rage from 100-200 lbs.
This set of wheelchair motors makes great heavy duty robot motors. One left motor and one right motor. They are right angle gear drives have been modified to include encoders. They are 24VDC and the operating speed is 120 RPM.