Two Short Clips of what we were working on for championships.
The Claw-
https://www.youtube.com/watch?v=dGkoqBEdpac
Rack and pinion style over center mechanism with paws to lock it in place once latched on. Able to release the containers once the locking paws are pulled up against a hard stop to force it open.
The launcher-
https://www.youtube.com/watch?v=ryDgl_0hlkA
Device used to propel the claw at a high rate of speed towards the target. Gets there in less than .2 sec. Uses a Solenoid to release an over center mechanism.
The winch-
Modular mechanism designed to be pulling from just above a totes height with about 300 lbs of force per container. Also acts as the hard stop to push on the back of the locking paws of the claw to force it open and release the containers.
After some at site mods we got them both full together and hitting 10 min before alliance selection. They were designed to be cheesecake mechanisms so that we could run our auto. If we had one more rev we think we could have gotten it close to 90 percent hit rate. Maybe for IRI
Leave FIRST? That's an option? =) - treffk [more] 
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