We started in 2003. I believe 2003 was the first year for a kit chassis. It consisted of 2 2"x4" extruded box aluminum and two aluminum tubes to connect the box aluminum. The transmission was a complex setup with a Bosch drill transmission and motor clamped into a plastic holder which was then connected by way of a hex shaft to a gearbox with one set of helical gears. We used the gearboxes for prototyping, but then went on to use just the drill transmission setup with chain reduction and eventually switched to the
"Nothing but Dewalts" transmissions in 2005 after spectacular failures with the Bosch transmissions.
We also used to make our own omni wheels, starting in 2004. The first version used a
carbon fiber/AL hub and a UHMW rim and kNex wheels. .2004 was the first year carbon fiber was legal. The design evolved over the years, changing the hub to aluminum and the rollers to hard plastic and then to a rubber material with brass inserts. These were very time consuming to build.
Eric