[JesseK]

Any chance you'll do endurance (constant fluctuations in fatigue) testing with this transmission? Granted these things are built for (at most) 3 competitions and a bit of practice (about 120 minutes of run time if you make the finals at competitions) but what would happen if you tried to put the robot under its stresses for say, twice that amount of time in a competition-style environment?

My Material's Science intro class went over a bit of sheer stress analysis but the details escape me at the moment. Is there a way to get a product lifetime estimate from the tests done already?

Excellent opportunity you have to be able to do such a disciplined and detailed analysis.