Take a look at the
FIRST Mechanism Library.
You will get bunch of ideas from there. Also as far as fast lifting/telescoping goes, take a close look at 233's 2005 robot and 1114's 2007 robot.
Here is a picture of 233's 2005 robot...
http://www.chiefdelphi.com/media/photos/20448 ... if you need details feel free to contact the team and ask for drawings. Send a pm to Mrs. P on the forum.
And here is a picture of 1114's 2007 robot...
http://www.chiefdelphi.com/media/photos/28724 ... again, if you need details, please contact Karthik on the forum. They are good people, always willing to help.
good luck.