This is a good question

The first motor used on the lifter on Cherub was a mobility scooter motor with a gearbox 30+:1 ratio it then had to go through a 2 stage chain drive to get any power to it and as a result it was far too slow.

The motor I am hoping to change it for is similar to the ones in Pilgrim and Spiderbot, these are EMD 24v 12.5A 300w motors gearbox output speed is 140rpm at that voltage I will be running the motors at slightly higher voltages as I'm using A123 batteries in it. this will go through a single stage chain drive 3.75:1 so will spin at around 37-40rpm I am not confident this will be powerful enough and am trying to contact Mike Hamilton-Macy to see if he has any bigger motors to fit these gearboxes.