From the title at first I thought this was an ABS gearbox and I was concerned. Looks good though! Generic comment about supporting your CIMs marginally better goes here.
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Originally Posted by KohKohPuffs
Because this is a 3-position piston, does that mean that when the PTO is engaged, the robot won't be able to move around?
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If a PTO left the drivetrain engaged, you would have no choice but to be driving your mechanism and the drivetrain at the same time. This is generally undesirable. Imagine trying to hang on a bar you are forced to drive away from, for example. The tradeoff of a PTO is that you can't use your drivetrain while it's engaged (plus the design hurdles).
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Also, what is the PTO capable of doing? I'm not sure if a 5:1 ratio might be enough to, say lift the robot's weight off the ground.
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Nothing about a PTO requires the entire gear reduction to take place in the same gearbox as the drivetrain. Rarely is this the case.