Initial design
I plan to use a chain drive system. Chains are reliable and easy to align without a lot of precision machining. While I have access to a machine shop, I plan to keep things simple as possible. I've been researching what others are using and this seems the simplest and most cost effective approach.

At this point I need to find motors and then its just a matter of choosing the right sprocket and chain for the speed reduction and torque required.