Adaptive Reverse Ratio Gearbox

This gearbox drives a winch at peak motor power to lift a ~150 lb load (robot weight).

Forward (winching) ratio: 7.11:1 (optimized for a mix of motor efficiency / low amp draw & high output power)

Reverse (unspooling) ratio: 1:1 (optimized for fast unspooling speed under low load)

Notable features:

• External unspooling force back-drives the motor through the 7.11:1 gear train, which significantly improves the mechanism's peak holding force. (means no ratchet necessary to keep robot up in the air)

• 1-way bearings at the motor shaft means less torque delivered via the bearings, improving the max load capability.