[Mike Nawrot]

Originally Posted by thoughtful

I dont have much experience with shifting tranys, but can you ellaborate on the delayed shift time that occurs from servos?

one cause for delay would be the small difference between servos, so that one side shifts before the other, and kinda causes the robot to go in a not-so-good direction.
I developed my own two speed recently and i'm currently busy integrating it into a mock up drive train in autodesk. The transmission looks good on paper (or in this case LCD), but i'll have to see how it works in reality, with weight and costs and such. I've thought of my own little tricks for shifting and all, but those are my little secrets. As for the advantages to multi-speed transmissions, i think it is a great direction to go in. They destroy the generalization of function on the robot and open up the window of specialized functionality available in multiple scenarios on the same robot. In other words, if you're in a situation where you need to have detailed control over the robot, or you need power, you can get exactly that and nothing extra to get in the way. And then if you need the highest possible speed with no power, you can have that as well. Simply put, the two-speed's fuction has no downfall, it's only the approach towards the two-speed that can result in lost time, money, and weight.