One of my VEX teams built a really nice 4 bar linkage for "Clean Sweep" season. It worked well they were pretty happy with it. Two building tips are to use double bearing blocks at the pivot joints (4 blocks total) The two blocks on each side give great stability of the joint. Likewise double collars on each end of the axles makes the joint less likely to come apart under stress.
The shoulder screws that are new this year are also a good choice for the pivot points.
If Simple = elegant = only the parts you need, then yes. Too simple may break at a critical time.
It's a shame you are so far away, I'd be happy to lend you some of my builders.