Sorry I haven't responded this past week, I decided to write a provisional patent for the gearbox in case there was something worth protecting. It took a lot more work than I thought to get it all written out. Interesting learning experience, I would recommend students interested in design to write a mock or real patent. With a provisional being only $65 to submit, it's really not very expensive.
I also got the website updated. You can find a little bit more info but the really important things aren't nailed down yet, max torque, weight, etc. Check it out at
www.armabot.com.
That is an awesome video ajlapp. Such a small form factor for a 400:1. Are you going to keep working on it?