Drivetrain where motors are on the same axis as the chassis sides??

[AdamHeard]

Worm gears are generally low efficiency. I know 1425 used some high efficiency 4 lead worm gears in 07.

75 used a shaft and bevel gear setup in 07 as well.

Of the two I liked 1425's setup better, but the space advantage really wasn't a big deal. Hasn't been a year yet where you needed the entire center to be empty.

Putting the gearbox over the chassis rails, like 330 in 07/08, might be a better space savings for you.

[ajlapp]

Back in '96 "hexcalibur" used miter gears direct from the drill transmissions to their drive axles.

The robot used to be at the FIRST Place in NH.

I couldn't find any pictures.

It was a seriously sweet machine.