Figure 1. Measurments of the centrifuge's base. The 3 small circles are where the feet were. The rectangle is where the control panel was.

Figure 2. Robot base shape design with measurements. To reuse the bolts which anchored the original centrifuge base to its case, I need to incorporate the same base holes to the new base. The two pieces in the lower corners are attached to the base with hinges, and further suspended from the centrifuge case with hardware that also act as shock absorbers.

Figure 3. Bottom view of the base panel, illustrating the drive wheels and the range of motion theory for the front wheels.

Figure 4. Bottom assembly view of the rear wheel suspension.