[sanddrag]

Not to take away from the uploader of this image but I believe I can get a couple questions answered. The gearbox is a two speed. The two gearboxes are oriented such that (it's hard to see but lets just say) low gear is toward the outside of the robot and high gear is toward the inside of the robot. The gearboxes are mounted inline. The pneumatic cylinder is "floating" between them. The cylinder body is not on a fixes mount. The end of the body connects to the linkage on one gearbox while the end of the rod connects to the linkage on the other gearbox. When the cylinder extends, both gearboxes are pushed into low gear. When the cylinder retracts, bothe gearboxes are pulled into high gear. Hope this is accurate and helpful.