Here is an album of pics of our worlds ITZ robot, many of which show the DR4B. I’d recommend you take a look at the methods of attaching elastics, how we braced it, and the different ways of saving weight (depending on how you’re planning on using it). A major factor in our design was the thinking that we’re only using it to lift one cone at a time, which is fairly light, so we don’t want 5lbs of overhead; this thinking may or may not carry over to the current season, depending on what you’re thinking of for design.