[Jim Schaddelee]

Team 107 also used a worm drive transmission a few year ago,it work ok but there are things to be aware of. The main issue is your reduction should not exceed 50 to 1 on the worm ,for the reason that it will not back drive or coast. You can compensate for this by adding a ramp down in your code, but in humble opionion worm tranmisson is better suited for arms or lifting or any application where there are not sudden loads ,like stopping a moving robot.
I may still have one of the transmission we used if you would like me to sent it to you to look at I would be happy to help. I will try to post some pictures of a new worm tranny I designed over this summer If anyone would like to see it.

thank jim schaddelee

team 107 Holland Christian / Metal Flow