​- Custom Swerve drive geared for 4.2 m/s free speed powered by
4 Kraken X60 and steered by 4 Falcon motors.

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- Flexible and collapsible Four-Bar intake uses 3 rows of 5" to intake coral into the conveyor system.​
- Uses a mix of 5" compliant stars and 3" compliant wheels to align the coral parallel to the elevator.

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- 3 stage differential elevator-arm combo powered by 2 Kraken X60 motors at the bottom of the robot through a 9m long continuous HTD belt loop.
The arm is made out of a single carbon fiber tube and 3d prints for weight purposes. 
Custom-made WCP-style elevator bearing block made to optimize weight and provide a hub for the elevator pulleys.

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​- The vacuum generated is directed through ¼" tubing to the end effector, which is designed to hold Algae or Coral with vacuum through two separate sealing elements: an off the shelf rubber suction cup for the coral and a custom silicone seal for the algae.

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- A winch to pull on a pivoting arm which latches on the cage with 2 aluminum tubes that include centering 3D prints and a magnet for fast alignment.