While I applaud your efforts, I have to ask, what benefits does having the CIM in a horizontal orientation get you? And are those benefits worth the extra complexity, part count, efficiency loss from the extra miter stage, and potentially weight? (not sure if the last one is a factor or not) The only benefit I can think of that might even be measurable is a lower CG, although I don’t foresee that being much of a difference. I would suggest investigating worm gears in the future if you wish to bring this design into reality. You can get a nice, high, relatively efficient reduction in a single stage, and it sets you up nicely to go coaxial. Anyways, I love seeing your designs posted here fairly regularly, you have a tendency to think outside the box which is fantastic. Keep up the good work!