Our robot has a well-supported frame and chain-drive train. The manipulator for picking up balls in teleop is a combination ziptie/scissor lift system which is improved with visual aids from LEDs. During endgame, we use a hitch system to drag a tube up the ramp. The robot's base and other components are CADed with Autodesk Inventor. We have created an entire Tetrix kit plus LEGO parts, all of which are available free/open source.