Ok, we are not satisfied with any of our mineral intake prototypes. So, we are moving on with another idea. Instead of trying to make our intake small enough to fit within the confines of our arm, we are just going to add a rotating shaft intake between the arms and a catch tray to load the minerals into. Also, we are going to use a Rev Robotics core hex motor on the intake instead of a servo drive in order to ensure having enough power to sweep up the minerals. (We do not need any extra things to worry about just now; we already have plenty of that.) See below to get a general idea of the direction in which we are going.