Does anyone know about what gearboxes have the defense robot of all einstein finals?
I’m interested about the gearboxes and all this stuff.

Is there a specific robot or robots you’re asking about? And a mechanism of their robot? (I’m guessing drivetrain?) A team number would help

I think this post could be formed a little better. How I’d go about it, is to go ahead and list all the teams. And then if you’ve looked at some and already know, fill that in. Then ask people to help you fill it out, and edit the list as they add stuff. You could make links to CAD and documentation. Just my two cents.


Yes sure, i’m very interested in #1023 and #2767.

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Probably next year I’m starting a new team so I need a lot of information for the drivetrain bc I don’t have too much experience with it

I am not sure about 1023 but 2767 has a swerve system so it (as far as I know) is all done with versa planetary gearboxes and 775 pros no nothing to fancy in the gearbox area

Another swerve. Are those minicims? Nah, I think they are CIMS. BAG motor/versa for steering.

Swerve is very difficult for even some of the most experienced teams. It is often recommended that you develop swerve for multiple years before using it on a competition bot


Yes and I know that, 2767 developed the swerve drivetrain during two years, but I want to know as much options I can find .

2767 has been developing their swerve for actually about 8 years. As far as I know, they still dont have it perfectly where they want it (they may now), and are constantly making tweaks between seasons. I would suggest checking out this document there may be a newer one but this is the one I could find.

Those look like mCIMs to me.


Swerves usually have custom gearing (not planetary) for the main drive, and sometimes planetary gearboxes for rotation.

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so… is it easier to develop a mecanum drivetrain?

It’s easier to use the KOP chassis. It’s a great chassis with great gearboxes.


Plus, Andymark sells upgrades for the KOP chassis, allowing for upgraded gearboxes (like shifting gearboxes) , meccanum drive, 8 wheel drive etc. Great way to get started.


So to interpret your question in a way that I think will help to address the reason for the creation of this thread, here are the 4 third robots that played on Einstein finals and what I believe their drive trains are:

4481: This team ran very effective defense and from what I see, they ran a 6 Minicim tank drive base.

1310: Runnymede also primarily played defense with their alliance. Through our machining equality project, we actually CNC’d the first revision of their gearboxes. They were originally made out of a kind of HDPE but they were later switched to aluminum. They ran off of 2 NEO motors.

5026: The Newton defender seem to have used 3 Minicims, in a WCD configuration. Another thing of not about their gearboxes is that they were at the back of the robot to accommodate their climb mechanism.

6986: The final third robot on Einstein finals did not play defense, however, for the record, they ran a 3 Minicim tank drive train.

Another solid defense team, team 771 used a 3 CIM WCD which helped them to win the Ontario District Championship. This team was a lesson in simplicity and were the team that Karthik dubbed “The best defense robot in the world” if I recall correctly.

It is important to note that 2767, while they played defense, weren’t primarily a defense and are in incredibly high resource team that you should not try and emulate as a first (or second, or third or…) year team. Their swerve is incredible and not something to be taken lightly.

Given the trailing off after the first word of the sentence, I assume you are joking but if not, please do not use mecanum for defense.

So to wrap up my point with this post, teams can do very well with a simple drive train. The most important thing is making sure it is reliable (the kit bot is great for this). If you are starting a new team as you said, I would strongly advise that you either use the kit bot or a WCD using Vex’s versa frame.


As others have pointed out, the standard KOP drive system is a great place for a new team to start. IF you were going to make some upgrade to it, I would maybe try swapping the gearboxes to something like an AndyMark SuperShifter or a VexPro 3-CIM Ball Shifter (both have instructions for mounting them to the KOP chassis as well).

Another option, depending on the game, would be to swap the stock wheels for some other sort of traction wheel (I personally find the KOP wheels tend to wear out a bit faster than other options) or maybe even Pneumatic wheels, though you have to be careful with this as changing wheel diameter will also change your effective gear ratio, and different types of wheels (especially pneumatic) may also change the amount of “scrub” you experience when turning.

Your drive train should be the one provided in the KoP. As a new team, go with the KoP drive train. First, you don’t have the option to opt out of it, so you’ll get it regardless. Second, it’s a solid drivetrain that you can get up and running quickly, which is incredibly important. Third, it’s designed to be able to play the game as-is.

Rookie teams should focus their time on getting the kitbot up and running and then getting stuff on top of it, not designing and building a custom drivetrain.

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If you’re starting a new team, seriously, go with the kit of parts drivetrain. It’s incredibly solid, and is pretty versatile as well. I started a team this season, and the kop drivetrain was a lifesaver. Also, if you’re interested, shoot an email to, and I can totally help connect you to other resources for starting a team, because it’s pretty tough.

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