Problem statement: Your 4-wheeled robot with 14 in wheels needs to pick up a 20. lb weight from ground level and raise it to 6 . You are provided a motor that is rated for continuous torque output of 223 in-lbs and stalls at 310 in-lbs. The center of gravity of the robot chassis is as shown; it weighs 100. lbs. The arm weighs an additional 10. lbs with a center of gravity midway along its length. You will rotate the arm around the shoulder joint using a single strand of either #25 or #35 roller chain and appropriate sprockets; you have 12T sprockets available in both sizes. 1) Draw a FBD of the loaded arm and use the E011: to determine the maximum moment/ torque (...at what arm angle would that occur?) required at the shoulder joint to do the lift. (Ans: ~1250 in-lbs)