Now, as far as making H-bridge changes...lol.
Well, it's a good time to look at that now.
This is running at 24VDC. When I up the voltage of course things get a little warmer, but it still looks like the weakest point is the motors.
Well, we do know that the original problem with the board happened at a higher voltage.
1) The first thing to do is to look at the ratings of these transistors to see if increasing the voltage is going to cause problems.
2) Without the schematic, that's not easy, but we're pretty sure that the logic is operating at 5V, so the signal is level-shifted. This will *probably* work at higher voltages.
To check this out, we might want to probe the gate voltages in the H Bridge at a *reduced* input voltage first. We see 6V and 18V at 24V. Do these remain at 0+6 and Vcc-6, or are they 1/4Vcc and 3/4Vcc? This will become important as we raise Vcc because we don't want to risk exceeding Vgs(max). Measuring Vgs at a motor voltage of 12V as well as 24V will indicate what is likely to happen at (say) 36 volts.
3) Current capacity of the mosfets. Did you blow some of these already? It is important to know if the extra current will be safe for them.
4) other factors -- Rds at the Vgs the driver provides -- this will determine the amount of power lost in the H bridge. Gate charge will determine how long the mosfets take to switch. If this is too long, shoot-through may become an issue. Voltage ratings of capacitors etc on the board. dissipation in resistors on the board.
I have a guy working on custom motors to try to increase torque while reducing amperage.
Well... He could reduce the RPM, or increase the voltage.
IIRC, the RDS on of the 4141's is something like .0025 ohms. That new ST I linked is slightly less, but in reviewing, I've discovered that it's also a different package, and they don't make it in DPAK.
The best thing to do note the specs of the 4141 that are important, then to use a parametric search tool (like the one Digikey has) to search for parts which match the higher specs you desire.