Looks good. Regarding your actuator dilemma, have you looked at the GLA200 from Gimson? https://gimsonrobotics.co.uk/categor...inear-actuator It's only a little over 100mm long when retracted so with a 100mm stroke would be a little over 200mm. I use one on my bot Neophyte which has a grabber configuration & although you won't be crushing anything it does have enough force to keep a hold of bots. They also do the GLA750 version which is a little slower but has much more force behind it.