[Oblarg]

Originally Posted by Kevin Kolodziej

One disadvantage is when we popped a flange or snapped the belt on the drive, the only way to replace the internal pulley or replace the belt was to remove the entire drive gearbox from the robot, which also involved removing the belts for our shoulder because of the shared mounting. After having to do this a few times, we got pretty good at it and had it down to a 30 minute repair, but this doesn't work for elims. Simple solution to this is to move the output pulley to outside of the gearbox, but that does create other design challenges.

I'm currently playing around with a few drive train ideas with this very issue in mind - send me a PM if you're interested in discussing a few potential designs.