Slot for the Tensioner: a long slot was machined into the equatorial plate so that we could position the tensioner precisely. The closer the tensioner is mounted to the wheel the more preload it feels, which translates to more friction on the wheel. we had to get this just right. too little force from the tensioners and the friction wheels wouldn't maintain contact with the wheel, too much force and the motors wouldn't be able to spin it.
 

Tension Mount: Here you can see the tension wheel mounted on the equatorial plate.
 

Encoder Holes: We wanted to be sure the encoders and the motors wouldn't spin in the axle, if they did, it would ruin the signal for the controls, or fail to drive the wheel. So at the last minute I drilled holes in the encoder and motor shafts so that the setscrews would actually sink into the shafts ensuring a tight fit. To be extra sure, these parts got a dose of RED locktite threadlocking glue upon final assembly. We had no problems with slippage.
 

Motor to Motor Mount: here you can see the motor being mounted to the motor mount /bearing block.