Daisy chaining is straightforward. In your EV3 project, you click the little wrench in the topleft to open the project properties and enable the option "Daisy-chain mode" below the project picture. The EV3 bricks themselves need to be connected with the USB to mini-usb cables that are normally used to connect them to your computer.
After enabling the modes, the port selectors in your blocks will have layers, first layer being the EV3-brick immediately connected to your computer. 2nd layer the EV3-brick connected to that EV3 and so on up to 4 layers (4 bricks).
However, for the project you are describing, perhaps you could do with less motors and one brick would suffice:
- grabbing and lifting can be done with one motor as is is for example done in the gripp3r standard model included with the software.
- The double articulation of your claw arm might also not be necessary
- Perhaps the arm does not need to be able to rotate if the vehicle itself is maneuverable enough