Here's a problem that comes up from time to time. A push rod that drives, for example, a wing, works only over a limited range usually no more than about ninety degrees.
Looking at the mechanism used in the Hammerbot I reckoned that it might be put to use to help increase the possible range of wing movement.
I modified the geometry so that the wing movement is double that of the push rod.
The result works really nicely. Notice that the wing motion is now 180 degrees.
Next, I'll experiment to see if I can make the linkage parts simpler and more compact, then I'll add it to a character as yet undecided. Fun fun!