I-Are-Bot is a robot I’m currently working on for Robot SM 2010 (http://www.robotsm.se).
A bot has to be 100×100[mm] to enter the competition, mine was about 130, therefore I had to built an unconventional bot 🙂
Two mini-tower 9G is lifting each wheel pair.
To calculate the arm-lengths and servo-positions I had to draw it all in CAD.
The prototype turned out pretty well, and after a little fine-tuning did the wheel pairs going up and down without problems.