The Gripper Jaws encompass the circumference of a 9 cm petri dish. Upside down "L" shaped elastomer pieces are adhered to the inside of the jaws by inserting them into "I" holes. The simple insertion of the elastomer pieces allows them to be exchanged if  they are damaged or worn down over time. 

The Jaw Guide Rail consists of a metal shaft, and fixed and moving jaw mounts. The mounts translate on the shaft with the fixed jaw in the rear and moving jaw in the front. This rail allows the jaws to open and close a distance of __ cm.

The Linear Guide Rail provides smooth translation of two mounts that move inward and outward horizontally from a central motor. This central motor drives these mounts, which in turn moves the linkages that open and close the gripper jaws.

The Gripper Linkages enable the conversion of the horizontal motion of the linear sliders into a perpendicular motion which drives the moving jaw mount forward. The length of the linkages was calculated using a system of equations, which accounted for the distance travelled by the linear sliders, the distance travelled by the moving jaw mount, and fixed linkage length.