[EricH]

In answer to your earlier question: Nope, no FRC legal motors have a worm gear output shaft. (All you folks who are going to point out the window motors, that's a spur gear output, not a worm gear output--though they do have worm gears in their gearboxes.)

What I would do, in your shoes, is this: Cut the worm gear off of the motor, as close to the motor as possible, OR better yet replace it with one of the same size and thread and a slightly longer length. (McMaster is your friend, I think.) Machine a coupler, worm gear to motor output, but instead of matching the worm gear tooth on the coupler, just leave that side round and drill a hole through both the coupler and the gear. Drive a pin through the hole and secure it, how is up to you. Now make an adapter to fit your chosen motor to the actuator body. Probably won't take more than a couple of days depending on exact setup and machinist skill/available tools. (You may also be able to find a coupler on McMaster or a similar site.)