It's a book that shows the design process of a bunch of 2006 robots
http://www.amazon.com/FIRST-Robots-H.../dp/1592533663
very good reading for this year's game.
original question: we protoyped an intake roller, a piece of 3" ABS sewer pipe with window motor hubs attached to each end with L shaped brackets, and a piece of gum roughtop wheel tread (conveyor belt) screwed onto it. Worked well for pulling balls in and pushing them up a curved piece of Lexan behind it. Changing to a toughbox type transmission and a CIM so it would spin faster made it work even better.