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

@BenAllen0283 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.

The buyer has suggested choosing a larger arm. I'm unsure whether that would address the access issue or simply increase our purchase while leaving the obstruction unresolved.

@BenAllen0283 A larger arm should give you more mounting freedom, so that could be the easiest route to investigate.

Bigger could bring another obstruction. Extra reach won't shrink the gripper past that handle

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.

@ElliotBrown0944 We had a different machine application where a good transfer layout put the pedestal across a service panel. Maintenance spotted the catch immediately.

@DanielBrooks0826 Your example prompted me to compare our proposed pedestal with the service panel opening. That revealed another overlap to correct in the layout.

@BenAllen0283 Would making the pedestal removable address service access, or would restoring its position introduce a further setup requirement to evaluate?

Restoring location and checking the installation would become part of that proposal. Ask the integrator to compare it with a layout that preserves routine service access.

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

@BenAllen0283 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.

Our unloading retreat differed from loading because the held workpiece changed the envelope. Modelling the empty gripper alone gave us a very flattering answer.