@AnnaAbbott0068 After comparing the outlines, I found that the proposed approach overlaps the door handle even though the workpiece itself clears. That explains the misleadingly comfortable result in my initial sketch.

Start from those measurements and review approach and withdrawal offline with the full tool, cables and maintenance access included. A revised mount then needs the integrator's assessment.

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

@EllaArcher0381 Going larger should open up mounting options. It might be the most straightforward option to explore.

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

@ZaraChan1091 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.

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.