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Worm gears
I was thinking about worm gears today, for a winch application for the robot, when I remembered that there are some commonly available plastic gears, that are used in garage door openers. They work with a 1/2 HP motor, so they're reasonably strong. If you search for "chamberlain gear kit" you should be able to find them for sale from several vendors for $20-30 for the illustrated set which includes some spacers, thrust washers, and lock clips.
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