About this journey

Size the drive a 58 kg omni base needs to reach its datasheet speed, then find how hard a shove it takes with a rated payload held out at full reach.

1. Up to speed. Can three omni-wheel drives take the whole robot to its 0.6 m/s datasheet speed, and what do they draw doing it?
2. The wrist holds the load. With no shoulder, the wrist pitch carries the payload’s moment: what does 2.5 kg at the grasp centre ask of it?
3. Reaching without tipping. With 2.5 kg held at full reach, how hard a shove from behind tips the base?