This is the lift mechanism our team used in the FIRST 2018 FRC game, Power-Up! The double-reverse-four-bar, what I designed, is everything above the drive train - the part that goes up and down.
[Link to video of it at the Las Vegas Regional](https://www.youtube.com/watch?v=vtos7OBZmzQ)
![robot-extended](https://mindcraft3495.org/wp-content/uploads/2019/01/DSC_5645-700x500.jpg)