Four bar calculation help

[Mr_I]

This is a good design, very do-able in the time frame with the resources (and issues) you have.
If the numbers aren't quite working for you, keep in mind that it's okay to forego reaching the upper tier pegs. Yes, you lose some scoring potenial, but if it's the difference between that and not finishing the robot, it's a fair tradeoff.

Good luck, and keep us informed on your progress.

[wireties]

We have found that the problems with geometry are about the same for putting tubes on the top row and picking them up off the floor. With a typical 4-bar setup you have to come up with a clever way for the arm to fold up to fit in the original envelope (28x38x60).

Best of luck!