I love this design!
I’m not an engineer or much of a developer, but I am a marine biologist and I have a couple of thoughts on improving its gripping ability (I know this is a WIP):
- serrations on the inside edge of the tips
- grippy* nubs on the inside edges
- perhaps even a grippy* liner along the round inside edges
* Material that is grippy like rubber, neoprene or similar. It should perhaps be a bit loose, so that when the gripper closes, the material when form to the object being collected.
I can’t speak for everyone who would be using a gripper for collecting samples, but my use would require a firm but delicate touch to keep a hold on the specimen. That is, keep a hold of it without breakage.