Here is the drivetrain we had that used the chiaphuas.....
White Paper by Andy Baker-->>
6 Motor Drive Assembly w/ Pneumatic Shifting of 4:1 Gearbox
The contents include these pages:
Background
Overview
Assembly Pictures
Fabrication Tips
Assembly Tips
Performance & Specifications
Bill of Material
Assembly Prints (4)
Part Prints (27)
Below is a picture of the gearbox.
