[thefro526]

There is the option of Tethering your robot to manually open the claw before the match and sitting an ubertube in it, then at the start of the match, the claw automatically shuts. This solution is really Dependant on the orientation of your claw and how much movement your robot will be subject to after the tube is inserted and before the claw closes.

Whoops, Phoenix Fire beat me to the post.

One more thing to pursue is asking the Q/A when you're given the Ubertube for preload. In some previous games, you were given the game piece to preload prior to placing your robot on the field, which allowed enough time to tether and load the game piece. I don't know if this will happen this year though.