[Al Skierkiewicz]

Most teams shy away from worm gears in the drive train since they rely so heavily on mechanical alignment. Without the strong bearings and mounts needed for this application the gears tend to climb on each other under heavy loads which just increase the loads on the bearings and drives the efficiency down. Generally, the support structure for the bearings becomes unwieldy in these drive systems. Worm gears work well in other applications and for those that need backdrive compensation. Arms and manipulators are both good applications.
The Globe motors are great fro steering, they high torque and good control at low speeds needed for steering. We have used them for all of our crab drive systems.