The lifting mechanisem uses worm gears to rotate a handle, which lifsts and lowers the main arms. The second mechanisem used for tilting the showel is powered at the pivot point of the main arms. This way the showel is always at same level, no matter how much you lift or lower it. There is even a short chain drive squeezed in the back :) The wheels are powered by Xl motor, one is powered directly through the drive axle, and the other goes over 24 to 24 to 8 to 24 to 24 tooth gears.