Team 971 made good use of GT2 timing belt the past year.
A 20 tooth GT2 5mm pitch (15 mm wide belt) is rated to 93 in-lbs
We used GT2 belt on our 2 stage elevator. I must say that our elevator is one of the best I've seen. We were fast, accurate, light weigtht and easy to manufacture and maintain.
We accidently caught our roller claw on the peg and the elevator picked up our 120 lbs robot no problem. The belting did not skip.
We use belting on our roller claw and that worked out pretty good.
We hex broached the pulleys and used nylon spacers to align the pulleys.
You can take a look at the use of the timing belt here:
https://picasaweb.google.com/1177698...anismCloseups#
http://www.youtube.com/user/roystur4.../9/3jm_yPl83gs