pic: Highlander Robotics reverted gearing shifter

[Joe G.]

Originally Posted by Oblarg

How does the shifting actually work on this? I could be wrong, but it looks to me like you'd need the shifting assembly on the primary shaft to make this work, but I only see one on the secondary shaft (and I can't figure out what it's for, since it seems like it'd work fine with only one on the primary shaft).

The dog shift assembly is on the primary output shaft, just hidden by the CIM motors -- what you're seeing above is the much more visible encoder mount and coupling. The 70t primary reduction gear and 48t dog gear are bolted together and both free spin on the shaft, engaging with the output only when the dog is pulled towards the CIMs. Extending the shifting piston engages the 60t gear nearest the front face of the gearbox, such that power must pass through the reduction of the secondary shaft.