Here is a sample design for a robot-lifting mechanism* from Competition Robot Parts for the 2016 FIRST Robotics Competition Game:  FIRST Stronghold.

CAD Files (.step)

Bill of Materials (.xlsx)

Bill of Materials (.pdf)


*This mechanism is intended as an example to help inspire teams to come up with designs of their own.  It is not guaranteed to be capable of completing the described task or being legal under the 2016 FRC rules.