[NickE]

Another very significant consideration is ability to go under the tunnel. If you can go under the tunnel and would like to continue to have this feature, you will need to design some sort of two-stage mechanism so that you can get your lifter above the level of the platform to lift. This could either be a two-stage arm (like 254), an arm and an elevator (like 25), a telescoping arm (like 233) or something else. You will notice that the robots which hang in one motion (like 1114, 33, 27, 148/217, etc.) do so by starting the match with their hanger above the level of the platform and cannot go under the tunnel (Note: there may be an exception to this that I'm not aware of).