I've made the piece that I mentioned in my previous post. It's a simple U shape aluminum to connect the claw to the pan/tilt bracket.

Then, I mounted the claw on a test platform to see how it works. In the video you'll see that a servo tester in automatic mode tilting and opening the claw.

Will this be able to lift up a softdrink can ? Not sure yet, we'll see.

and, here is the video,