What's the coolest (or most complicated) linkage ever used in FRC?

[philso]

Originally Posted by Nuttyman54

I've attached a picture of the linkage Steph is referring to. It's a 6-bar (4-bar with a driver dyad) that lifts the ramp from its storage down low in the robot up and over the tower base. The virtual center (the point in space that the entire mechanism is rotating about at any given time) is always somewhere around the rear edge of the robot frame.

Stephanie

That is really cool! How did your team design/develop this linkage? Did they model it in CAD and articulate it on screen or did they prototype it to get the lengths and pivot points right?

Thanks.

Phil