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The gearboxes transfer power from the motor to both wheels on that side simultaneously; i.e. each motor powers two wheels, either the right ones or the left ones. Each gearbox is removable and interchangeable. The motor has a 7-tooth gear; other gears are either 20-tooth transfer gears or 20-tooth gears with a 7-tooth gear attached. The final gear ratio is 20/7 * 20/7 * 20/7 = 23.32:1. This means for every 23.32 rotations of the motor, the wheels turn once. This gives the already high-torque motors a lot of leverage on the big wheels; in fact, the climbing power is limited more by the traction of the tires than the available torque.
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