Advice needed !!

[854 bears]

Our team this year has switched from doing our usual omni wheel drive system and have decided to go with a 6 wheel drive.

We are using the 6" aluminum wheels from andymark with rubber belt as traction. We designed and built our own gearboxes that gear down the CIM motors 13:1 before being driven to the wheels. Our current set up uses one CIM motor per side. ( a total of 2 for the entire drive system)

When competing at waterloo this year we noticed that the drive would start to jitter and cut in and out when it was under the slightest bit of load. The controller was checked and the programmers are saying that it has nothing to do with the code. I am assuming that we are over loading the CIM motors and tripping the breakers ... although it doesn't seem right that they would draw so much current when they are not even under that much load. (just driving around the field and bumping other robots would cause the problem)

Can anyone give me some advice about what the problem could be ??