In the first drawing, either servo could raise the mass, if the other was a pin joint, so they could both contribute to raising the mass.
I don't see how the arm of the bottom, the one linking the 'free joint' to 'servo1' is ever going to be in anything other than a horizontal position - given there is a free joint there. There is nothing to provide a reaction force.
Makes one wonder how a guy who calls himself a mechatronics engineer got this far
Is this a piece of university homework that he's expecting us to do or a question from someone who either doesn't understand the basics of mechanics or has failed to phrase his question correctly