Robotic Arm Gripper for FRC Logomotion Competition

Hi all,
This is the first of a series of instructables.
In order to understand the origin of this instructable please refer to the link below:

This year FRC FIRST robotics competition -Logomition

This instructable will show you how to design, manufacture and assemble a gripper for the inflated tubes in this years competition.

all ready ? ? ? 
lets get started

btw - The age group of this instructable is 13-18 ( the frc contest is for 10th-12th grade students)

Step 1: Design

For the design we used PTC Pro Engineer CAD softwear (or in its new name - Creo Elements Pro).
Our Concempt:
The concept was a motorized pliers with broad surfaces at the tip in order to prevent the inflated tube from slipping or changing orientation. 

in the photos below you can see a rendered image of the design alongside the actual assembly.
The design was planned to be simple, light weight and cheap (using standard screws, alluminum plates and RHS- Rectangular Hollow Section Alluminum)
Details regarding the different parts are in the following step.