Originally when I was designing my first antweight I wanted jaws at the front and a lifter at the back but for 150g this was out of the question so I designed Odyssey instead. After a bit of research and fighting with ants I found out about the Hitec HS55 servos at 9g each which are a big reduction on the 16.6g Protechs. Also by this stage I had a spare 110mAh 4.8V NiMh battery pack from Overlander which weighs about 20g. This weight reduction allowed me to use an old Acoms remote control car servo for the weapon......
Sorry for those that have a slow link to start with. Anteater in it's 'primal' form will fit in a 4" cube and at the moment weighs 153g with weight reduction but still needs 3g of improvement.
At the front of Anteater is a 50g servo which must be about 3-4kg/cm which is linked via 2 metal struts to the arms, the inner bits being 2mm plasticard and the outer pincers being brass soldered into shape. 2*HS55's provide drive but are very fragile (might upgrade to HP Naro's), the wheels are tops of Lynx deordorant with elastic bands.
When the front servo is activated the front jaws spring open and the tail flips back via an elastic band, below you can see the catch which holds the tail in place. I would like to have a nice animation but my brother has my video camera.
I've mentioned above when it starts it's a 4" cube, well deployed it's a 6*8.5" ant well within the rules (once I lose 3g). Being the size it is if a flip is attempted the jaws expand to make it nice and wide. The tip force is about 280g measured by pincing my scales, this is with about 3.5kg/cm of main servo, JR do a nice servo with 15Kg/cm @6V (1.2kg of tip pressure).
At the moment it's enough to hold an ant and hurt your hand, the only catch is the deadly embrace rule so every x seconds I have to release the enemy and the driving servos aren't very powerfull to push other ants about.
