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To best way prevent over curent in motors is to have a clutch in the system. this can be the clutch provided in the drill motor transmisions, tire slip, slip in a v belt or round drive drive, or a self made clutch. Stalled motors over heat very quickly, not just because of the high current, because the intergral fan is not moving also. It should be noted that breakers let a much higher curent pass than there rating for a few seconds (this info is out there some where)
For the drive system we fond that tie slip worked best, experment with diferent tires, gearing and the right weight load to find oout what works best. We found that ball pick up systems work best if they can slip also, it pervents excessive jaming as well as over heated motors.
As for other mechisims like lifting arms and such design them to do the normal duty at or less than 20% motor torque rating limit, if you want control with a speed control. Add limit swithces too.
Get a clamp on DC curent meter, learn what is going on. They are great for diagnosis alos, espically if you have two motors powering a mcechinism.
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