Here is Team 85's 2011 frame:
Some features:
-1/4" AL, bolt together construction
-Outer wheels articulate
-Very reliable, no issues all season long
-Requires significant lighting (not shown)
-Very stable even with the arm raised
Although the drive-train/frame was successful, we are opting for simpler designs in the future. We simply need more time to concentrate on the rest of the robot.