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Re: pic: Ball Differential parts
This is an "Old School" design that has worked beautifully for years in the RC Car world. Although, with RC 's, the motors output pinion would engage teeth on the outside of the ball ring. Then the left and right drive wheel would be attached to the outer plates through more gears. Compression force would be used against the outer plates to regulate the amount of slippage that occurred between the two output shafts.
(For those of you who are/were RC junkies, think RC-10) 
This is a great adaptation of that design. Well done!!
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CalGames 2009 Autonomous Champion Award winner
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2011 Sacramento Finalist, 2011 Madtown Engineering Inspiration Award.
2012 Sacramento Semi-Finals, 2012 Sacramento Innovation in Control Award, 2012 SVR Judges Award.
2012 CalGames Autonomous Challenge Award winner ($$$).
2014 2X Rockwell Automation: Innovation in Control Award (CVR and SAC). Curie Division Gracious Professionalism Award.
2014 Capital City Classic Winner AND Runner Up. Madtown Throwdown: Runner up.
2015 Innovation in Control Award, Sacramento.
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