This Lego Mindstorms EV3 "Clamp-N-Lift" grabber claw can CLAMP onto an object (like a ball) then LIFT it off the ground using a single motor. Tingeypa's dual-action original design (as shown on www.us.lego.com/en-us/mindstorms/community/robot?projecti... ) was designed for a Lego NXT Motor, but this one here uses an EV3 Large Motor. See the YouTube video link to see how the mechanism works. Of course, you can change the "claw" pieces to better conform to the object being lifted; Lego Bionicle weapons and Technic Liftarms make good "grabber" pincers.

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