Mark Damon does not take his shirt off in this movie. Giuliano Gemma has a brief bare-chest scene in the first half of the movie and an extended bare-chest scene (involving bondage) in the second half.
While the captured Robin Hood is sentenced to be drawn-and-quartered, no preparations seem to be made for this form of execution. Instead, Robin Hood winds up tied to a stake, a target for a row of archers.