Hi I'm still doing a little on Cherub,
I have been trying to find a motor gearbox for the lifter, I think I have found something cheap that will do. It is off a chair lift mechanism I think.
24V DC motor with a worm drive gearbox output speed about 40rpm 25mm shaft,



The robot is quite small so getting it in place means moving the speed controller again!



As you can see the gearbox will come above the top of the robot so I will have to modify it to get the lid on.
In the background a few 36v packs to power it!