[Joe Johnson]

If the carrier material is the proper hardness, I don't think that brazing will significantly improve the performance of the joint. The problem is not the impact from the slop in the joint but the impact of the robot's momentum vs the rotational inertia of the armature of the motor.

This is why grippy tires play such an important roll in making the joint open up. Without grippy tires, the force from the robot momentum is limited by tires slippage.

As to the solution, I don't know all the final details, but everything I have heard so far seems to be reasonable. I am sure that some folks will still complain, but I think that most level headed folks will be okay with the plan.

Joe J.