[nathan_hui]

An arm with a gripper that should work while the robot is moving is just getting asked to get ripped off by another robot. But while you are on the topic, perhaps a three-clawed gripper (two claws towards the rear side of the bripper and a movable claw to the front that pushes the frisbee against the two other claws) might work. The former two claws should be fixed and the three claws should be spaced equally around the frisbee when it closes.