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Before you could buy the double-doozy...
I was digging through some pictures of old robots and found a picture of this transmission that I built in 2005. Similar to the NBD whitepaper, but with two FP motors with their stock gears and an insane reduction. I wanted to post it up as inspiration for a winch motor/transmission setup 
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Theory is a nice place, I'd like to go there one day, I hear everything works there.
Maturity is knowing you were an idiot, common sense is trying to not be an idiot, wisdom is knowing that you will still be an idiot.
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