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I think doing BOTH is a very good idea as yes you can do them both with the SAME arm...
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it will be interesting to see how many teams try this
because having one mechanism that performs two functions violates one of the Golden Rules Of Engineering (GROE)
"a subsytem should have ONE function, and be optimized to perform that function"
when you increase the number of functions a subsystem has (N), you increase its complexity N^N
so the complexity of a subsystem with one function is 1
the complexity of a subsystem with two (different) funcitons is 2^2 = 4
the complexity of a subsystem with 3 functions is 9...
it gets out of control REALLY quick!