Newbie needing help setting up a robotic mirror

[cbenson]

I also wanted to check if the Phidgets board was capable of controlling the gear motors directly or if the separate DC motor controller was needed

Not really - it can only control servos. However, there are some servos like the HSR-1425CR which are essentially continuous rotation servo motors.

The easiest setup would be:
Computer -> Phidgets servo controller -> Servo
Computer -> Phidgets servo controller -> R/C DC Motor Controller -> DC Gear Motor

No need for the other board.

[carlitos]

The gripper should suite your needs and seems to be the best fit for your application.It does close completely and it should be able to hold the aluminum samples you describe.