COSMOS: Design of a Differential Holonomic Robotic Drive System

In mobile robotics, the most common methods of movement are tank and mecanum drive systems. Tank drives allow for powerful forward and backward motion with high force efficiency, while mecanum drives enable smooth holonomic (omnidirectional) motion but lack strong pushing power. At COMET VEXU, we are proud to present COSMOS, a novel differential holonomic drivetrain that combines the strength and efficiency of a tank drive with the versatility of holonomic movement. The goal of this research is to design and structurally analyze a drivetrain system that optimizes motor power usage through efficient wheel arrangements while maintaining high maneuverability and control. By merging the best aspects of both drive systems, this project aims to enhance overall robot performance and demonstrate a new approach to mobile robot locomotion.