Tiedemes, in the following image, the green dot,
C, represents a point mass exerting a downward force due to gravity. Torques are generated at
A and
B, and together, they cause
C to move up in a straight line until the contraption is fully extended. Assume that
C remains directly above
A for the entire time, and that the "limbs" are massless. Do you agree that no work is required at
A? I wanna double check that we're on the same page here, before responding to your post.
If you're uncomfortable with massless limbs, then assume the limbs have a mass. In that case, the torque required at
A is simply the integral of the (mass at any point along the limbs * the horizontal distance between that point and
A). But importantly, do you agree that in this case, that the mass at
C has no bearing on the work done at
A?