A mobile platform consisting of four omni wheels mounted on the chassis (grey) is shown in Figure Q1(b). Each wheel has 10 cm diameter, rotates...

1.A mobile platform consisting of four omni wheels mounted on the chassis (grey) is shown in Figure Q1(b). Each wheel has 10 cm diameter, rotates around the axis shown with the dashed line. Is this platform holonomic? Describe the directions of motion this platform could make.

2.If each wheel is driven by an electric motor with a maximum speed of 1200 rpm and a maximum torque of 2 Nm, calculate the maximum linear speed (with unit m/s) and

maximum traction force on both Dl and D2 directions as marked in Figure Q1(b), and comment on which direction should be the primary direction of motion for this mobile platform. (Hint: ignore friction losses)