We put our 2008 lift (a 118 inspiration) on a kitbot and attempted to pick up tubes. Our claw is a bit rough but definitely helped us decide on the roller claw vs. regular claw debate.
Video :
http://www.youtube.com/watch?v=OTfv0W_ymvQ
Our students have also been furiously CADing drivetrains and mini-bot designs, let us know if you have any suggestions for improvement !
http://picasaweb.google.com/LamarRobotics/Week1FRC11#