Team 2085 used Urethane Round Belting. We would cut it to length, drill a hole in PVC pipe, and then use a blow torch (or heat gun if we were in the pits) to melt it into the PVC. In some cases the bond was so strong, that when we tried to take out the pieces of Urethane, it took pieces of PVC with it! And plus we can get it in our team's colors
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Here's a link to the material:
http://www.mcmaster.com/#round-belts/=rjfos8