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This is going to sound like a stupid question, but did you also try giving it the weapon normally, from the Trade menu?
I was thinking this too when I first read but figured you'd already tried that lol.
But not so stupid because the first fallout didn't have the same companion options as this one.
Happy to help!
By default, Robobrain is set to the "unarmed" fighting style. Changing its weapon preference should fix it, allowing it to equip rifles and SMGs. Note that this only works with the Human Brain and the Cybernetic Brain; the other two brains are too stupid to use weapons.
Enemy getting pummeled by a mutli armed trash can. lol