pic: Team 148 - 2011 - Raptor

[JVN]

Originally Posted by Chris is me

I've got a question. This question isn't a criticism disguised as a question.

What reasons would a team want to deviate from the "standard" method of powering an arm by bolting a sprocket to it and chaining it off a high reduction gearmotor? Basically, what are the advantages of the cool linkage pushing up on your arm as opposed to driving the rotational joint of the arm?

I've never learned much about arms and I don't understand the advantage or disadvantage of either system, other than CG placement.

CG isn't reason enough?

One other reason is my hatred of chain, but mainly for CG reasons.
I would also suspect this is lighter than an equivalent low-gearbox + chain + sprocket...

Plus... c'mon... DOUBLE FOURBAR!