Two rear half axles.
Each driven by its own small motor.
Wheel is to be afixed at the end of the bit of axle sticking out. Cantilevered as it were.
Going to start with belt drives initially.
The entire layout and design is a testbed for future endevours.
The key is driving the wheel from the axle.
Forward and reverse.
Ideally without much fuss.
I think replacing the hub with something I can key to the shaft is the best bet.
I hope there is something simpler though.
I had thoughts along the line of concrete anchors that use wedges to secure a bolt.
There are concentricity issues with that. Possibly…