how extensive are your manufacturing facilities? I drew our warthog drive to be cut using a 20 year old cnc using 1/8 and 1/4 end mills. But it is very bulky. We managed to producing a functioning omni directional drive completely within the 6 weeks. No pre build or pre design.
http://www.chiefdelphi.com/forums/sh...threadid=75407
I just put up some random jpegs of the ideas that were put together to build the drive train.