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Re: Belt Drive
Our team has successfully used belts in a variety of applications, including three CIMS on a climber, and 1 CIM on a swerve drive. We used HTD 5mm pitch belts from SDP/SI, but I think McMaster might sell them now. You can save a lot of money making your own pulleys if you have a lot of them, and for low torque applications (like our shooter this year), they can even be 3d printed.
It is useful to have a method of tensioning, even if it is as simple as adding spacers beneath a gearbox. Also, be sure to choose a belt length that is actually made, so don't use some weird number like 73 teeth. For center to center distances, you can use Inventor, but they don't have the HTD belt profile in the design accelerator files. I have used SDP/SI for two pulley setups, and Gates Design IQ (free download) for setups with more than 2 pulleys.
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