pic: Team 2220 Blue Twilight Octocanum Offseason Project

[PAR_WIG1350]

Originally Posted by Jeffy

It sounds like you are not running a reduction between the gearbox and the wheels. I urge you to do this. If you do, you can switch to a single reduction box which will save some weight and efficiency (especially important on a drive like this).

That is one possible improvement, but regardless of whether the reduction occurs inside of or outside of the gearbox, it will still add inefficiency. A double reduction, direct drive gearbox should have similar efficiency and weight as a single reduction gearbox with an additional chain reduction between the gearbox and the wheel.

Direct drive eliminates one axle, 2 sprockets, and one length of chain per module, while adding one drive hub (and possibly an extended output shaft) per module.
Changing to a single reduction and changing the sprocket ratio removes 2 gears, a stub-shaft, and 2 bearings. One sprocket and the gear box housing are also reduced saving additional weight.

If you really want to save weight, you could integrate your gearbox into the wheel module

This is yet another solution with its own pros and cons to consider. While lighter, it could also be more complex and more difficult to actuate due to the additional weight (not an issue with some methods, but if it is retracted with springs, it might not be worth it).

All possible solutions should be evaluated to determine which is best for the team and its goals.