[JesseK]

I know it's an anecdote, but the Space Cookies (1868) had a gorgeous gearbox for their arm that didn't seem to have the same DP for more than 2 stages. It started at 32 DP on the motor pinion gear and was much much lower by the last stage (16DP maybe?).

PINK had something similar for their crazy arm rotary joint. If you didn't get a chance to see that thing in action, sometimes it would snap from one side to the other -- so lower DP on the final stages was almost necessary. Their mentor in DC told me they would gear it down some more before Championships, but I didn't get to see the effect in St. Louis.

IMO, 32 DP is a bit risky to put on all stages of a drive train for the sheer fact that 32 DP gears need more alignment precision for proper mesh than their lower DP counterparts.