Arm Design Input -- Four Bar Linkages

[Sachiel7]

Hello All,

Well, we've begun to wrap up our team's strategy phase, and are entering our design phase.
Our Strategy calls for an Arm or Lift, capable of Capping a Tetra on top of the center tetra goal, even after some tetras have been added. We're looking for something to get us around (at minimum) 8 to (above expectation) 10 feet. It'd probably be nice for an average around 9 feet.
So, keeping that in mind, we also want to mind the KISS principle.
I presented the group with one of the older ppt presentations on arms + lifts, which demonstrated 4 common lifts; Elevator, Forklift, Four Bar, and Scissor.
Our group is interested in the four bar design, both for simplicity, and its capabilities.
I would like to hear any input from those who have tried either 4 bar, or something similar. I'd like to hear some of the pros and cons from experience.
Also, I would like to get some ideas from teams from last year who had successful capping lifts for the large platform goal.
I just want to see some designs from a different perspective, and get some first hand input on what works well (Since our arm last year wasn't that complicated, but cant achieve this years task)
So, any input you can offer would be helpful!
Thanks!