Check out the winch arm we had on 662's robot last year! The entire arm was powered by the winch, and once the hook as on, we just winched ourselves up off the ground, match, after match, after match... We got those hang points almost every single match.
http://www.rockymountainrobotics.com/index.php?module=photoshare&func=showimages&fid=8& viewkey=&template=slideshow&iid=125
Just click on the forward arrow at the top to see the next frame.