[Al Skierkiewicz]

Before you commit one way or another, you need to understand the ups and downs of each system. Our crab system uses motors mounted inside the transmission housing because it reduces weight and friction. It also puts all of the gears in one place so the splinters thrown off by the gears during normal operation stay in the transmission. The type of drive suggested above requires bevel gears in most cases. Raul told us the friction created by this type of drive eats motor power and that is why he never considered using it. If you want a powerful and fast drive, you must optimize your design for speed and power by analyzing the motor curves and specs. Some of it is black magic but it can be done. Let's face it, there were robots out there who were faster than us, and/or more powerful than us. It simply what we chose to use this year. If the game requires a different drive next year we will not use crab drive.