Honestly I don't think so, according to the manual you cannot touch inside an alliance's robot frame perimeter or other alliance's robot inside the bumper zone or on the actual frame itself.
Quote:
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Originally Posted by [G27
Deliberate or damaging contact with an opponent Robot on or inside its Frame Perimeter is not allowed. Violation: Technical-Foul and potential Yellow Card. [T34] Do not connect or attach to another Alliance member.
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From this I don't think that this would be a viable strategy.