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Any kind of belt or chain will slip, if it's not big enough/tight enough for the job.
We used big heavy chain and sprockets for our drive, and as far as I know, it never slipped a tooth.
We also used timing belt on our rollers. Again, as far as I know, they never slipped.
Aside from that, I belive general wisdom is that chain is better for high tourqe situations, belts for high speed (exaclty the situation on our bot).
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