[Stephi Rae]

This claw weighs 7lbs, including the two BB550 motors with gearboxes.

The claw is designed such that it wraps around the inside of the tube, reducing the concerns of a tube being able to be hit from the side and fall out. It is also passively compliant, in order to allow for all three tubes' shapes and sizes, including partially deflated tubes. This compliance allows for constant positive pressure on the tubes to insure a good grasp.

Additionally, we are able to pick up any tube in any orientation, at any angle. This includes spinning the robot and hitting the tube from the side, or only engaging the side of the tube with none of the claw in the center of the tube.

Each of our subsystems have small unique characteristics. In typical 190 style we cannot let all things go simply conventional.

We have very much enjoyed designing and building this robot, and are looking forward to the competitions! (And to showing off our minibot and deployment systems!)