Quote:
Originally Posted by Tubatroopa
190 in 2008 had a crane like appendage. If i can find a picture i'll post it later.
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While this was a very unique system, the crane was essentially a very long version of 233's famous arm, mounted vertically. It wasn't a linkage by any sense of the word, so I don't think it qualifies for this discussion.
190's 2007 championship winning robot did have a 7-bar linkage on it, in the gripper:
Open position,
closed position
It was operated by a single piston which when extended would first actuate the "finger" linkage, gripping a tube and pulling it back into the claw. Once 13 lbs of grip force is achieved, the continued extension of the piston would lift the entire arm up to a 45 degree angle (all while maintaining a constant grip force on the tube).
Video
here, best shots are from 0:30 to 1:00