[BJC]

It looks really nice. Integrating the actuation for the wrist into the 4-bar is very slick, however be wary of bending. I think when 148 did it this year they used a piston to push/pull sheet metal sliders. Basically the 4 bar was still very strong because the piston was not actually acting as a structral part of the arm. I would be concerned with the piston getting even slightly bent in a hard colision and no longer functioning properly.

Also, on your bell crank pivot down towards the bottom of your robot there is quite a lot of open shaft on either side of the arm. The further away that shaft is supported from the load the greater chance that it will bend. There is also the chance that it will begin to bend over time and continued use so it is probably worth supporting it closer in on either side so that can't happen. In any case, it is a good practice to support shafts close to the load as possible.

Overall it looks great! Looks like you are very ready for build season.
Regards, Bryan