[Rapt0r9]

I doubt that this would be a problem. I've built a forklift mechanism which was driven by a steel cable and a large spool pulley and it was never questioned while going through inspection. Additionally, my team last year, used a winch and steel cable to hang from the bar and it was not an issue. I've only seen problems with pinch points if they pose a direct risk to persons who are servicing the machine. Consider the kit drivetrain, it includes many exposed sprockets and the chain running between them, but it is something that FIRST, in the fashion of supplying you with it and assembly instructions, deems safe. It is relatively contained inside of the robot and standard procedure dictates that the robot should be powered off before any work is done on it.

As far as having other sprockets, belts, pulleys, or chains running about the robot, be smart. If the sprocket poses an obvious risk to other machines and the field, you'll need to put shielding on it. I've been surprised by some of the machines that have been allowed through inspection in past years, but I suppose there was a good reason for allowing the mechanism to pass.

For your machine, I wouldn't worry about it. Its minimal exposed cable and everything else safely contained. The chance of something being caught and pinched in the mechanism are very slim.