2. You have a four-wheeled robot that is driven by the rear wheels. The robot climbing a slope as shown in Figure 2. Figure 2: Robot climbing a slope. The wheels are driven by motors through a 12:1 gear system (e = 0.0833), which is 85% efficient. The robot is symmetric, so each of the rear wheels is equally loaded. Rwheel = 5cm. = 30. The robot weighs M = 2.5kg. The location of the Center of Gravity is noted in the figure. The robot is green. (a) Draw a proper free body diagram of the robot as a rigid body. (b) How much traction force must be provided by each wheel to propel the robot up the slope at a constant speed? (c) Draw a proper free body diagram of the wheel. Assume the driving torque acts at the axle. (d) How much torque must be provided to each wheel to hold the robot in place? Assume the wheels are equally loaded. (e) How much torque must be provided to the wheel to maintain a constant speed? (f) If each motor is providing 10W of power, how fast is the robot moving?