[Billfred]

Ockham went through Palmetto with nothing more than an off-kilter end effector. (Well, I guess it's better than it was--on practice day, it was swinging every imaginable direction.) We then switched wheels and ran it in two parades, plus a jaunt around the campus of USC. (If you come to Palmetto, you'll understand why there's a Facebook group called "People sick of tripping on bricks!") The parades might not be as hard on Ockham as, say, taking it to IRI, but it was several hours of running around.

Other than a couple of bolts rattling loose and one set screw coming out in the middle of a parade, we haven't had any problems. (I don't think we've taken the covers off our arm since we put them on.)