[M. Mellott]

Team 48 used four of this exact transmission in our modified linkage drive this past season. Each module included the optional Banebot encoder kit with the AM wheel cantelevered against the encoder case. The modules had post mounts on the top and bottom to allow for rotation. Two small cylinders connected the left and right module pairs, orienting the wheels either straight ahead or 90 degrees for a "transverse" mode.

With no way to avoid cantelevering (is that a word?) the wheels because the of the rotation, we too feared the side loads on the shafts knowing what happened to Banabot trannys back in '07. We fixed that by modifying the aluminum plates attached on the top and bottom of each transmission that held the post mounts, cylinder mounts, and rotational mechanical stops. We extended them over and past the encoder case. We then bolted an additional plate between the two plates against the encoder case with a hole around the shaft that contained a Delrin bushing. The bushing and plate supported the shaft and took the side load.

We went through 3 regionals, the Championship event, training a new drive team for IRI, IRI (including mentor competition), and several local demos with no transmission issues whatsoever. We were very happy with them.