[Sh1ine]

Originally Posted by jkelleyrtp

What does your belt path look like inside the tube? I get that chains have the dual sprocket but I don't know how to do it with belts without doing something really strange.

That image of the belt path that you found is from our 2011 robot, it was our first attempt at a belt drive. It skipped teeth and did not work well.

We redesigned the system in 2012. We use 1 1/2" x 3" Tube - we use two 15mm belts in the same path that chain would take. We make custom pulleys that fit inside the tube. We buy the pulley stock from SDP/SI The pulleys are 1.200" long with a 1/2 hex broach. We don't need a flange because the tube keeps the belts on the pulley fine. We also offset our axle bearings with .125 plate so that the inside of the bearing is flush with the inside of the tube.