EDIT: Phoenix beat me to it, but heres the rule quote;
Quote:
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<R43> All wiring and electrical devices, including all control system components, shall be electrically isolated from the ROBOT frame. The ROBOT frame must not be used to carry electrical current (e.g. this is necessary due to polarity reversals that occur under certain operating conditions such as during motor direction reversals).
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R43 would make your last idea a no go.
As for the other stuff, Im not really sure. Probably best to ask in the Q&A.