[Josh Fox]

We had issues with torque on our "virtual four-bar" (I think that's the term) last year. We were putting it under considerably more load (trying to elevate our robot), but we were never really able to explain where our mechanical losses were coming from.

It got to the point where #35 chains were breaking and hex shafts were shearing before we threw in the towel on it, but I was just wondering if you guys had any insight as to what sort of mechanical advantages/disadvantages go into an arm like this? I've been curious about the math behind it ever since.


It looks like your gripper is pretty solid and not too finicky about the orientation of tubes it's trying to pick up. I also love the geometry the arm goes through, this is such a cool concept. Good luck!