Yep, you need to have "prime focus" which means camera lens out so you can see the chip, then some form of adapter (there are commercial ones available) that mount it rigidly into the focusser. The problem is that the CCD chip is then usually well back from the focal plane and you run out of in-travel on your focusser trying to get there. Frequent solutions are 1) a low-profile focusser and 2) moving the primary mirror up the tube towards the secondary mirror. A barlow lens may well solve the problem - it's worth a try. But your image size gets larger (field of view smaller) and it is often already quite difficult to get your object in the view of the small CCD chip before you add the magnification of a barlow. You'll want your finderscope very well aligned!
Re: how to use it on a non-tracking telescope, read:-
http://www.iceinspace.com.au/63-201-0-0-1-0.html
http://www.orion-xt10.com/philips-spc900nc-webcam.html
Lots of good information and ideas in both of these! But your targets are really limited to the Moon and the bright planets.
Try Craterlet as your webcam control and acquisition software:-
http://www.stark-labs.com/craterlet.html
I have just started to play with this software - looks promising as a tool for webcam dummies like me!
Happy experimenting!