{HEAD ~ Gripper arms} 52, 54 have {TAIL ~ bases} 80, 82, respectively, connected to segments 56, 58, respectively 
have
{ HEAD ~ Gripper arms } 52 , 54 have { TAIL ~ bases } 80 , 82 , respectively , connected to segments 56 , 58 , respectively
HEAD HEAD HEAD HEAD HEAD HEAD OTH OTH OTH REL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH