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Hi Hugo,
I saw you designs off your home page and as hoping that you could help me with a design for the claw that you use.  I am a high school science teacher in the NW Houston area and my students have worked unsuccessfully for several years trying to design a manipulator claw.
Do you have some sketches, renderings, pictures, etc. that might help us?
Thank you….Sam

Hi Sam !
Yes, I have no problem sharing what I learned.
In my website (www.hugonutz.com),  go to the second 'design drawings' page, there is a pretty good side view of the arm and you can also find a few photographs on the other pages.
For your info, the actual claw came out of a discontinued toy made by Radio Shack called 'Armatron', I bought my through eBay.  The motor is a small bilge pump with its shaft exposed coupled to a 1/8" steel rod.
The only problem I had was to lower the rpm of the motor which was accomplished by lowering the voltage via a rheostat, not the best way, but it works good as long as the battery voltage stays high.
To control it I use a 3 position momentary toggle switch (on-off-on) that operates an H bridge dual coil relay for open - close operation. The electric diagrams are also on the website.
If you need additional info, please let me know.
See attached files.
 Glad to be able to help, Hugo

Hugo,
 What a great help!  Thank you for sharing your design.  Best to you on your ROV project.
 C’ya…SAM