pic: Team 148 - 2011 - Raptor

[Garret]

This robot is amazing.

I would think that the double fourbar linkage would actually simplify the arm's joint design (at least in my mind it seems so much easier to deal with weight and taking loads) in that you would have to worry less about powering the pivoting point (gearboxes and chain) and instead focus on the making the actual joint stronger and more stable. I also could see it as isolating the motors and gearboxes from the abuse (as in side loads) the arm could take in a match, which I see as beneficial seeing how much defense this robot will likely have to put up with. Those are some of many potential benefits that I thought of when I first saw it.