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

@LeoAli0188 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.

@LinBell0618 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.

@LinBell0618 Bigger could bring another obstruction. Extra reach won't shrink the gripper past that handle.

@MinaBell0685 You're right; more mounting freedom isn't guaranteed. Check each candidate in the measured layout and only favour a larger arm if its full approach works better.

@LinBell0618 On our separate machine job, the first pedestal position blocked a maintenance panel. The transfer looked excellent until the maintenance person asked how they'd open it

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

@LeoAli0188 Could you move the pedestal for service? Or is putting it back a whole other job?

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?

@LeoAli0188 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.

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

I've decided to base our arm selection on a measured access review. A workable layout for the complete tool and a qualified assessment will be conditions of choosing the arm.

Using an assessed layout as the condition gives the selection a clear basis beyond the reach sketch.