Yeah! The fun stuff. When I study the geometry I don't see a massive issue with unequal link lengths. Obviously there is an issue, but it seems to me that it would be amplified by the amount of ackerman you have setup. So, if you didn't have any ackerman and the links stayed straight the whole length of travel it wouldn't be an issue. Obviously it will never travel straight the entire throw, but you get what I'm saying.

Just thought a discussion on the topic would be interesting. Perhaps not.

lol