It is definitely much more compact. Here is an image of my chassis from the underside to show more of the design.
I was limited on space since I have all 4 of my drive motors in the back and my crossbars come back so far on the bot. I probably had about 13-15 holes on a c channel of room in between the motors and I had 12 from the size limit to my first crossbar. The 3 wide c-channel used to mount the motor underneath doesnt need to be so long its just all I had. The motor is mounted via a plate that is screwed onto the opposite side of that 3 wide c-channel. It spins the 12 tooth piñon which then spins the 84 tooth green gear which utilizes the standoff pulling the hook from your design but it only uses one standoff in order to save room needed on width which you can see in the other picture here:
In addition to that I have the upright beams of the clamp closer together to save room with the lip for the bottom of the base stretching out far enough to secure the goal. Since this picture was taken I have removed the extra ½ inch standoffs that I had going from the longer standoffs to the uprights in order to make the bot fit in the size limit. If you have any questions on what else I changed from your design or how I made it more compact just let me know and I’ll be happy to answer them.
Oh and by the way if you mount the motor that spins the pinon gear, on the side of the green gear that is farthest away from the claw (yours is on the side closest to the claw mine is farther) It does away with the need for rubber bands and should also make it so you dont need the bars stretching out to stop the claw from tilting down that I asked about in a previous post. Also I would recommend using my hook design that you can see a drawing of here as it will create a more secure hold on the goal than the hook you have right now with the stands offs (essentially the hook you have is better for pneumatic powered clamps the one I have is better for motorized ones).