[Lil' Lavery]

Why the 3CIM, dual speed transmissions? Are you simply using it as a "worst case scenario" placeholder in this design, as it occupies more space and weight than any other option? Or are you seriously considering using it during the upcoming season?

I fully understand both 3CIM transmissions and dual-speed transmissions for drivetrain, and have used both in the past. However, a 3CIM dual-speed transmission strikes me as an exercise in overkill. The improved acceleration (when compared to a "standard" 2-CIM single speed) and pushing power are accomplished with either solution. Similarly, with the additional CIMs you can creep your top speed above a KoP transmission while retaining superior torque without the need for shifting. However, when you incorporate BOTH the 3rd CIM and the dual-speed, you get the downsides of both. You have the additional weight, additional space usage, the need for pneumatics, the usage of additional PWM outputs, the use of additional speed controllers, the additional current draw, and the additional financial cost. For only a minor performance improvement over either a 2-speed or 3-CIM single speed, you're tacking on a lot of additional costs. You're also inviting the risk of tripped circuit breakers if you're not careful about your power consumption in high gear (especially if you're not traction limited) and programming when you shift gears.


That being said, your general design looks fine. It's pretty hard to truly screw up a WCD design. You may want to reduce the lengths of your shafts on the outer wheels, so you have less overhang behind your sprocket. You may also want to spend some time planning out your bumper mounts, since they aren't always trivial for WCD solutions. You could also consider adding some cross-bracing behind the transmissions to reduce the cantilevered loads they're placing on your drive rails and output shaft. Also, be mindful of what types of gussets you're using (as they aren't shown in the picture), and their interactions with the sliding bearing blocks.