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Check for lateral force on your shafts. For example, if a chain is to tight it will cause the shaft to bind. Make sure your drive system isn't fighting itself. Also when the breakers trip give the robot a break. Let the motors and breaker cool and it will be less liekly to trip again. Without the motor connected you should be able to spin the drive train freely, and it should keep spinning. You might also be attempting to gear the motors too high. Motors do not actually perform 100% to their specs, and you lose effeciency in the gears and axles.
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Retired member of Team 108
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