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Re: Chain Tensioning
Personally, regardless of belt or chain, I would use tensioners.
Cams are good, but they need to be cadded before you add them into a robot. You cannot just throw them on without considerable effort, depending on how your drivetrian looks.
Screw tensioners are really nice, as they use a solid bearing block and the tensioning is very fine, but they do add a pound or two to the drivetrain depending on their design. I think this would be my preferred method of tensioning chains.
Belts: Too wide for my liking. Width on a belt is several times more than the width on a chain, which decreases the amount of electronics space you have. Plus, if by some fluke a belt breaks, we would have to take apart a gearbox to access the pulleys. I would rather have 4 5-minute chain snaps during competition than 1 15-minute belt break.
Admittedly I hate (or better, despise) working with master links, but 221's chain attachment tool is great. Just make sure you design with enough space in the chassis to use it.
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