[joeweber]

The whole system is a test stand for development. With funding low preseason we are trying to build everything low cost just to see how it works. When we build the actual ball differential we will use harder bearings. Once we figured out how to put it together and did assemble it we found that it was easy to assemble. The most difficult was the ball guides that are welded to the shaft. We drilled the center hole in the steel and than drilled the holes around the center (they do not have to be perfect off center to work). We than welded the plate to the shaft and than lathed it out to make it round. We than threaded the rod. The rest we just had to slide spacers and bearings into place. We drumeled the keyway for the wheels.
To test how tight they have to be we will prop up the mecanums up with casters and than run with just the omni wheels. This should give us a good idea on the amount of slippage under pressure.