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Re: pic: Inverted Gearbox Concept
The outboard placement of the CIMs looks good, but the high CoG is disconcerting. Rotating the whole assembly about 60 degrees about the output shaft (pick your direction) and moving the then-higher CIM closer to the then-lower CIM would result in a much lower center of gravity and a shorter foundation for the manipulators, without much affecting the shift and other capabilities.
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