After several tests and placing blocks of wood against the frame and attaching the motors in a variety of different ways (glue gun, tape, zip ties, you name it), we came upon a problem. David Rios made us realize that unless the motors were firmly installed against the frame they wouldn’t we able to produce the full force we needed.
After a while of scratching our heads and looking into different DIY ways of setting the motors correctly, Jake Sherwood suggested we should look for a 3D printed solution. Blessed be Jake Sherwood. I immediately came across a free 3D model I could print right away. (model .stl file here). Even better, it worked with both of my servos without any modification.
It took us about 7 hours to print three servo brackets in a Ultimaker 2+ available on the ITP floor. After printing there was residue, so we had to sand them down and use a motor tool to open the holes where we would tie the servo motors.