I do not like the friction too. And this technology is not suposed to have good repeatability. Every time the rollers move the paper/pcb/whatever, they are losing a little of their diameter. So it is sure that this cannot be very accurate.

Another idea might be to use the steppers that move the rollers, to move a table having the pcb on it. Difficult as there are no datas about the motors and the gear involved.

Ioannis