Checked them. The approach clips the handle; the workpiece clears. No wonder my first sketch looked so reassuring.

Use that measured layout to review the complete approach and retreat offline. Include the tool, cables and service access, then ask the integrator to assess a revised mounting arrangement.

@WillBrooks0835 Our buyer says go bigger. Does that help, or just buy the same problem in a larger arm?

A larger arm should give you more mounting freedom, so that could be the easiest route to investigate.

@WillBrooks0835 A different arm geometry may introduce its own clearance problems. Increasing reach doesn't establish that the proposed tool can pass the existing handle obstruction.

Yes, I made that sound more certain than it's. Compare candidate geometry in the measured layout; a larger arm is only useful if the complete approach improves.

@WillBrooks0835 We had a different machine application where a good transfer layout put the pedestal across a service panel. Maintenance spotted the catch immediately.

Checked ours. The suggested pedestal overlaps a panel opening too. More red pen for the drawing.

Would making the pedestal removable address service access, or would restoring its position introduce a further setup requirement to evaluate?

A removable base adds relocation and installation checks to the work. Have the integrator weigh that against keeping normal service access clear in the layout.

Our fixture needs straight entry. Put that constraint in before moving the base around?

@TheoChen1193 Yes. Include the required entry direction and withdrawal conditions, not just an end pose. A reachable point can still have no usable approach with the proposed tool.

@WillBrooks0835 For our machine, withdrawal with a held workpiece needed a different route from entry. The empty-tool model made the clearance look much better than it was.

@AdaBrown0912 Measured access review first, then an arm decision. I've settled on that route; choosing the arm depends on a workable full-tool layout and qualified assessment.

That puts the access question in the right place in the decision. A conditional selection fits the limits of the sketch.