This year team 708, Hatters Robotics, which is located in MAR built a new, custom drivetrain. This drivetrain was conceptualized on the ride to world championships last year and became an off-season project. We competed with this drivetrain at Team 341's off-season competition, Ramp Riot. With this our alliance made it all the way to Finals and managed to beat some teams that had competed on Einstein this past season. This drivetrain is gear driven, but unlike most gearboxes, the box is a piece 1x3 aluminum tubing and serves as the 2 walls of the robot. This serves as protection for the gears and saves a considerable amount of space for electronics and manipulators. 3 cim motors went directly into the gearbox/drive module. When testing the efficiency of this system, a non-biased mentor of another team found that it operated with 98% efficiency In addition to this, the team also put fans on top of our motors which, even after a competition, made the motors cooler than the room. 8020 with a 1020 profile connected the two modules which allowed to you remove a module by taking out 4 bolts. This made for extreme modularity as we could have the entire drivetrain taken apart in less than 2 minutes which might be incredibly helpful in between competitions in the pits. The entire CAD for Autodesk software is available at
http://www.team708.org/drivetrain.html Feel free to ask relevant questions in the chat, provided that it is related to the post.