Slick! Care to answer some questions about your design? More specifically, why cantilever the belts, rather than put them inside the module? Also, I love the use of belts. When routed correctly, they outperform chain in both lifetime and torque transmission.

Also, a tip on top support crab modules: For FRC level contact, you might find yourself wanting more support on that top pivot. Even a single degree of deflection of the module makes you lose 90% of your contact patch on the ground...