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If you use a simple swing-arm rear suspension, you could put the drive sprocket on the same axis as the swing arm pivot point. That way there is no need for a tensioner on the chain. (Or, keeping in mind that the real world means having to allow for some extra movement, it means you don't need as much of a tensioner.) Perhaps motorcycle swing-arms would work. They have a chain (or belt!) drive that has been very thoroughly worked out.
-soD
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