It is possible to use the molded plastic gearbox housing provided in the kit in conjunction with the CIM motor as an alternative to the drill motor. If you use a 10 pitch, 30 tooth worm gear (Boston Gear pn G1061ARH), combined with a 1.25" pd worm (pn. G1066KRH :see bostongear.com for specs), you get a 1/30 ratio gearbox that should work well. You need to slide the pillow blocks that hold the motor-side drive shaft out a bit to compensate for the larger diameter worm gear. We are planning to do this for our front wheels.
See the image below.
Drawings are also online at:
http://skene.org/robots/cim.htm
(img)
http://skene.org/robots/CIM-gearbox-2a.jpg(/img)
