pic: Frog Force 503 Leapfrog Drivetrain

[Electronica1]

Originally Posted by apalrd

Way back when we ran an articulating drivetrain in 2011, we designed it so that the chain length was identical in the up and down position but it got a bit of slack while moving. We deemed this to be acceptable and never had any issues.

This is the same way my teams octocanum works. It rotates in the opposite direction as the way you have your module and only untensions for a brief amount of time. As long as the sprockets are aligned it won't fail (unless you use it for 10 demos without maintenance over the summer and break the chain itself).