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My general advice on drive trains:
Don't experiment! I mean, you have to start by experimenting, but once you find something that works (or see it on another robot, hint hint), go for it. Build it, test it, improve it and do it all over again. Team 71 prided theirselves on a special chain ratio with those old drill motors that they didn't change for several seasons until they got these new ones last year (even the walking 2002 model had a classic drive system in the rear). I'm not suggesting necesarily to use a two wheel chain system - but find something that you can build, maintain, and rebuild - that works - and stick with it as long as you can. Another example is Technokats - they have been using a tank tread system forever and even this year when their titanium treads were outlawed - they had a colorful red polymer of some sort in it's place.
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Lead Mentor of Team #246, Boston University Academy and Boston University, Overclocked
www.burobotics.org
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