2018 Elevator Gearbox

I designed the elevator gearbox for Team 254's 2018 robot. It drives a ~4ft elevator that uses four strands of dyneema cable to move a 20 lb carriage. It also shifted gears to be able to "pull up" the robot for a special challenge. I had several design constraints when designing this; In low gear, the gearbox had to be able to lift the weight of two robots (over 300 lbs) in less than three seconds. In high gear, the torque had to be high enough so that the motors would stall under a 20 pound load while using minimal power.