A little while ago, I made a post about using inverse kinematics to make a claw. I now finished the claw, figuring out all the math by using trig, wolfram-alpha, and diagrams. Here is a video of it:

(In the real game, the robot will not be controlled by a moving attachment, but rather it will be tweened between positions, looking much smoother. Here the tweens are used but with a time of 0, which is probably part of the reason it is a bit choppy.).

What are your thoughts? Any ways that I could improve the actual model? (I know it is quite simplistic.)