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Originally Posted by sanddrag
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.
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Exactly. Having one cylinder works perectly, they always shift at pretty well the exact same time, and we've never had a problem with it, since it generates the exact same force as two indivdual cylinders. The main reason we have only one is because the gearboxes are too close together to put two cylinders, and we didn't want to offset them because of the drive layout.