Definitely a differential, nice job!
It looks rather over-lubricated - But then again, there is no such thing as over-lubricated 
real wheel drive, front wheel steer?
I have seen bearings cause system failures because they were packed too tight with grease. Also depending on the lubricant there are situations where the lubricant can actually cause resistance, typically this can occur with heavy lubricants in light duty applications. The situation with lubricants is use the right one for the job and apply just the right amount to get the job done.
Close, but no cigar.:rolleyes:
Thats a lot of grease!
Grease not withstanding, Andrew I know you have worked your butt off on this design, and you have a great team designing with you. This is extremely elegant and functional, and that is engineering at its best. Keep it up and I can’t wait to see this bot!!!
Has anybody actually checked what radial load those igus linear bearings are rated for…
because just by looking at it if you have a 150 robot (battery and bumpers) and you hit one of those bumps i’d fear for them snapping
With the weight distribution and the number of pillow blocks we have on there, we should be fine. If not, we’ll have plenty of spares.