The Drivetrain system features two DC motors, each equipped with encoders to ensure the precise motor positional feedback. The motors transmit the power through two 6mm D-shaft. In addition, each motor shaft is flanked by a pair of bearings, with two bearings on each side. These bearings are fundamental in mitigating radial and axial loads that could otherwise lead to performance issues or motor failures over time. At the terminal ends of the shafts, flexible couplers are placed in case of any minor misalignments between the motors and the scooter wheels, which further preventing lateral stress that could lead to the mechanical failure.

The gripper system on A.T.O.M was designed to mimic the action of a hand in grasping objects. It employs a rack and pinion mechanism powered by a servo motor, enabling precise movement and control. This setup allows the gripper's interlocking jaws, wrapped with rubber band, to open and close with precision, ensuring a secure grip on ACORNs. The servo motor's accurate position control is ideal for tasks that require delicate handling, and the whole mechanism is supported by a sturdy one piece 3d printed structure.

The launching system on A.T.O.M features a sophisticated 1:5 planetary gearbox paired with a servo motor, providing a high-speed, precision-driven mechanism essential for controlled launching tasks. This configuration allows for exact speed increase, enabling the servo motor to actuate the launching arm with both speed and precision. The planetary gearbox's compact design is ideal for fitting within the space constraints of the robotic platform, and the servo's precise control is critical for ACORN launching tasks that demands repeatable and accurate launching.