An Inventor of our Gripper holding a tube. The rig can place the tube on both the bottom and middle spider arms.
what row is this gripper designed made to score on
Out of curiosity, why do you want to pivot the tube to be parallel to the spider leg?
Im not sure what 291 is going to do but if you have the tube parallel with the spider leg and have it on top and let it go it should swing into position. Just cant take them off.
I interpreted this as meaning “parallel to the spider leg foot” or “vertical”, rather than “horizontal”, since the entire assembly already seems to be in the horizontal position. Let us see what the clarification on this issue yields.
Judging from the apparent hinge on the assembly’s attachment point to the lift, I think he means that the tube’s center will be concentric with the spider leg. Such that they can pick up off the floor, yet need less height to get to the top rung. But, dropping it over the stinger isn’t a bad idea either.
My team has found that placing the tubes on the goals in the horizontal orientation is much easier, and they will just fall into place when you release them over the stinger. Looks like a solid system for picking the tubes off the floor.
The purpose of the assembly’s ability to swing up was for the ability to take rings off of the rack and a bit less height we would have to achieve with our lift mechanism. Although, this pivot is probably the most hazy in our design at the moment and may be dropped in the end, we may end up just sort of dropping the tube over the rung as mentioned earlier in the thread.
Another note, the entire mast pivots back to a 45 degree angle to allow for storage withing the 4 foot starting requirement. This is much like our 2005 Tetra robot if anyone was at the Pittsburgh regional and remembers.
Bottom and Middle, Not meant for top at the moment however if we end up underweight it is a possibility though unlikely.
Thanks for the clarifications, but don’t forget you can just edit your posts instead of posting three times in a row. 
The grippers are going through the tube itself. Will that be a problem later on?
That only happens in the inventor file, the tube didn’t like to constrain to the curved surface correctly. We did the calculations by hand, it will go over the tube as it should. And I know I can edit posts, I just took a mental holiday I suppose…