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Baxter used both a worm gear and a planatary in their drivetrain this year to be as compact as possible and mount the motor perpendicular to the output shaft. From other posts, bevel gears can also be difficult to implement well since at least one of the gears will be unsupported on one side.
Sanddrag I edited my spelling of Chiaphua just for you
Here is a pic of Baxters Drive
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