[sanddrag]

For many teams, it is decision of many factors: manufacturing resources, time constraints, game strategy, cost, manipulator design, etc.

I tend to think it is good to use what you know for certain will get the job done (and that you can make within your means), then do something just a little bit spiffy with it if you feel you have the time.

Go with what has worked for you before, modify it to suit the current need, and fix it's shortfalls from the previous implementation. If nothing you've done before even remotely suits the current need, figure out the simplest way to accomplish the new task effectively.

I see many teams attempt very ambitious systems and fail, because it was beyond their design skill and manufacturing abilities.