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Simple solution. The rule states that you cannot have more than 20 ft-lbs of energy stored in the spring at the START of the match. It never says anything about a maximum limit to stored energy during the game.
Design your system so that at the start of the match, it is in a gravity neutral position (i.e. arm at an elevation angle of 90 degrees or so. As you move the arm away from that point (and toward horizontal, when a gravity offset is most necessary), the springs/tubing are stretched further, adding energy. That energy can be recovered as necessary by the springs as the arm moves back toward the original position.
-dave
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Y = AX^2 + B... ehhh, whatever.
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