This is Version 2 of the Gripper kit worm gear, it will not work with the TM01. This version is a little lighter since some parts are now hollow. This is less forgiving on the servos. You will need the rest of the parts the TM02 Gripper kit and the TM01 piston rods as those are identical. I made this piece separate so you can purchase it in other materials like steel or plastic. Both work well.
For instructions on how to make it work please follow thiss thread from Jamie McShan: http://astromech.net/forums/showthread.php?27377-TexMex-Gripper-Arm-that-actually-works