In this video, I present a design I built that could potentially lift a robot and hang on to the pull-up bar. It was able to lift five-pounds with only one medium motor. The reason it is so long lengthwise is that it was the most convenient location for the motor for testing purposes, however, the motor would most likely be in another position for actual competition robots.
The first few second of the video is a clip from The FLL Expert's "robot in 3 days" video, please go check his videos out
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