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This is my continuation of the comment thread started here: https://www.robotshop.com/letsmakerobots/node/763#comment-2036 The goal is to come up with a gearbox transimission that will let us change the gear ratio on the fly as it's turning. This will let you start at a high ratio to get the robot moving and as it gains momentum change the ratio until you're 1:1 or higher. The result of this would provide great speed and torque when you need it. I've never done something like this before, but ...
This is a companion discussion topic for the original entry at https://community.robotshop.com/index.php/robots/show/a-cone-based-cvt-continuously-variable-transmission