[Chris Hapstack]

The overall shape of the gearbox is a little funky – kind of an “L” shape. That’s because the drum of the winch needed to fit down between the drive gearboxes near the center of our robot. There was no room for the 775s there, so we used the gear spacing to move the motors out and up to where there’s more room.

Here’s a video of the winch running (sorry for the vertical orientation – I was caught up in the excitement of the moment): https://www.youtube.com/watch?v=95u0-QNm7u4