I had a very similar problem on my Pinbot. My issue ended up being low (high?) -12v coming from the power supply. It was -10v but it needs to be at least -10.5v or it can cause resets, and seems to particularly affect the sound board. This can be tested on the three test points in the center of the power board, left -12, center ground, right +12v.
What solved it was replacing the capacitors on the power supply as they were original and had dried out.