[Matt Adams]

I guess I'd just like to ask a quick question... why do teams go with this sort of varible speed gearbox?

I've read Paul's whitepaper, and his final equations yield that these sorts of transmissions are variable speed, but constant torque. This is because the torque is a function of the number of teeth, which remains constant in these sorts of designs.

I guess I just don't see an advantage of being able to push 150 lbs at either 2 ft/s or at 15 ft/s..

With the extra gears, you have some sort of an efficiency loss against your max torque (and max speed)... which means teams using the same motors coupled in a simple drivetrain will be able to push you around, and go faster than you...

Anyone care to explain to me, why you've decided to go with this sort of design? (Preferablely someone who's done some math, or had first hand experience with these?)

Thanks in advance,

Matt