We started an overhaul of the stone clamp. We have two purposes in mind.
– Make it more compact.
– Make it with 3 servos: one to spin the entire clamp 90 degrees;
one to clamp and hold a stone; and one to clamp and hold a
short stone that serves as our capstone.
See below sketch.
The top clamp is sized only to grasp a regular stone.
The bottom clamp is sized only to grasp a low-slung capstone.
And below are images of the clamp assembly.