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Originally Posted by Matt Adams
Let's say that you have 200 in-lbs of torque applied to the shaft. In this case, the motors coupled at free speed will spin at about 225 RPM. The atwood motor will be contributing more torque to the system than the drill. I do not see a problem with this. I admit that there's uneven load sharing between the motors... but there is nothing fundamentally wrong with this from a mechanics standpoint.
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In fact, sometimes you will want to do something similar to this. For 2002 my team designed the gearbox so the bosch would be moving the robot almost to the point where the atwood was not adding any power under normal movement to keep current draw down. Then when we had goals or if we were pushing another robot we'd slow down about .5ft/s but then the torque would increase greatly while not drawing too much extra current. I wouldn't suggest doing something with that big of a difference in normal load rpm's of the shafts but if you wanted to keep current draw down on normal conditions you could do something similar. Also, I would suggest combining the two motors together as soon as possible in the gearbox to use less gears and keep weight down.