High Hanging with a 6 bar lift

Does anybody know of a robot with a 6-bar lift that can high hang?

Since it is probably not possible to reverse hang like 2 and offset 4 bar lifts, would hanging from the front work at all or would it be too weak to support?

Our A team hangs using a 6 bar lift with a hook at the front that pulls itself up parallel to the ground.
It doesn’t seem to need much support, but they do need a lot of torque (6 high torque motors 1:7 ratio and it can still sometimes stall).

Here’s are 2 examples of robots with 6 bar lifts that can hanging in alternate ways.