The manipulator is the most complex mechanism on the robot (and one of the more expensive ones). For almost all of build season we didn’t have those nifty green compliant wheels, so we used the Banebot ones instead. The manipulator was designed as double-jointed to account for that loss of a degree of freedom. Those pneumatics are actuated by a triple-state solenoid, which is in neutral for acquisition, extended for dropping, and retracted for clamping.
If you want to take a closer look at the CAD, feel free to PM me.