pic: Team 192's 2012 Gearbox

[Joey Milia]

Yes this Gearbox is for our drive train
and
Yes it is for a WCD

Originally Posted by Ty Tremblay

Assuming your worm reduction isn't backdriveable, how does the drive train react when you try to stop fast? The nature of worm gears to be non-backdriveable would make your robot very difficult to push, but also makes it so that you can't coast to a stop.

Do you "coast" via software? Or did you determine that you won't snap any gear teeth off?

The worm is a high efficiency 4 start gear. It is backdriveable, albeit with higher resistance than a spur gear gearbox. If they were not backdriveable, we would not be using them due to risk of the worm gear teeth shearing when we get hit.

The purpose of this gearbox is not to make it hard to push, but to make it small and have the cim's parallel to the sides of our frame.

On an off season prototype, we had victors set to brake mode and it worked really well. However, we have set the victors to coast not because of the gearbox, but because of weight distribution in the rest of the robot.