We used the large CIM motor with 3 to 1 belt drive to a 2 in pully to wench up 8020 slid on a slide. The claw we used was large enough to grab a tube from the outside. When the tube was in the claw it took no time for it to go to the top spur. We did not want to wait for it to crank up so we made sure it would get thier fast. For the claw we used pneumatics pulling steel cables to close the claw and springs to open.
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