Differential drive system

A differential drive system, comprising:

• a housing having a cavity and a pair of opposed apertures in communication with the cavity, each of the apertures aligned along a longitudinal axis of the housing;
• a first output shaft positioned in one of the apertures and being at least substantially aligned with the longitudinal axis of the housing, the first output shaft having an inboard end within the cavity, the first output shaft being mounted on at least one ball bearing assembly in order to rotate with respect to the housing;
• a second output shaft positioned in the other of the apertures and being at least substantially aligned with the longitudinal axis of the housing, the second output shaft having an inboard end within the cavity, the second output shaft being mounted on at least one ball bearing assembly in order to rotate with respect to the housing;
• a first spur gear secured to the first output shaft proximate the inboard end of the first output shaft;
• a second spur gear secured to the second output shaft proximate the inboard end of the second output shaft;
• an output gear positioned within the cavity and having a central bore substantially aligned with the longitudinal axis of the housing;
• and
• first and second planetary spur gears mounted on the output gear to rotate therewith, the first and second planetary spur gears each being rotatable with respect to the output gear about a respective planetary axis offset from and substantially parallel to the longitudinal axis of the housing, the first and second planetary spur gears being respectively drivingly engaged with the first and second spur gears to transfer torque to the first and second output shafts.