This Seeking Tech guide will explain how you can quickly beat Captain Pincher in Astro Bot. Use the following video as a reference:
Before the actual fight, make sure you defeat the four small enemies guarding the exit.
Once the boss shows up, run over the rock pile and then pick up two rocks. You need to dodge the shock wave attack from the captain first. Afterwards, throw the rocks at the targets of his barrel leg.
Once you break two targets, grab another rock to break the last target.
You can then climb the exposed peg leg from the side.
After getting to his-knee, take out the two enemies and then grab the banana to ride to his chest.
Once his claws hit his chest, quickly climb up to his head area. When you get to the top, quickly grab his head with your two monkey arms. Don’t let go until his head pops off.
Here is the same run again at normal speed.