[glennword]

Originally Posted by Joey Milia

I won't dispute worm gears high reductions but i wouldn't describe them as relatively efficient. The highest efficiently you'll get is 86% with a four lead worm. At best this would be replacing the two stages before the co-axial, a miter stage and a timing belts stage, each around 95% or higher. I too am unsure of the benefits of a horizontal cim for a coaxial swerve but I don't think a worm gear would be beneficial on the Cim motor. However, using a worm gear for the steering motor is a different issue and has more merits in my opinion.

You are correct, sir. The miter gears I've had experience with are in all likelihood far below 95% efficiency, however upon further research I found that good quality miters in rigid and accurate housings can achieve those numbers. And of course belts are highly efficient, if properly tensioned.