Rod,
You don't come around these boards too often but when you do I am certainly impressed with your work. You are becoming a great robot designer. Have any of your designs been built? If so, I'd like to see some pictures.
A few notes:
-It might be better to mount the CIMs by the 10-32 threaded holes in their face rather than claming them on the can.
-Why use a coupling on the CIM shafts rather than just putting a gear?
-The transmission directly drives the wheel, I LOVE IT!
-The transmission has three plates, make sure there are never 3 bearings/bushings on a single shaft.
-For the sprockets, what size are they? I would recommend going the smalles you can (which would be 13T for #25 with 1/2" bore)
-Finally, have you considered a welded box tubing frame, they can come out to be very lightweight.
Last, I would like to offer you a picture of our frame in case you wanted to take any design cues from it.
http://www.chiefdelphi.com/forums/pi...le&picid=10020 The pillow blocks slide for chain tension. Big tubing is 1.5x2 (probably should have used 1x2 and the small tubing is 1x1. All 1.8" wall.
Again, NICE WORK!