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For efficiency I think you will find it very difficult to beat straight cut spur gears in the transmission over either chain or belt. Also there is no tensioning in a properly built gear drive tranny, just bearing supported axles meshing the gears. Again properly designed (right pitch, gear material, and face width) a first robot will show little if any wear after a year with a gear driven tranny.
We have 5 on the 2002 robot, all look brand new and none have failed since they were built in January.
Look into gear drive. Leave the belts on the Harley Davidsons, and the chains on the Crotch Rockets.
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