you will notice that there is a table, with an arm and a piece about 5 inches from the bottom of the table.

I am trying to create an arm with a piece in the end (not yet created) to pick and lift it pass the table about 12-14 inches without having the arm touch the table.

I feel that I am almost there. The arm is moving and not touching the table. But i cant figure out how to create the picking part at the end of the arm.

Once crucial part of the arm is that it must rest only one inch bellow the square part and lift it. Hope it makes sense. if it does not, please let me know.

Attach is all the parts and the assembly

thanks again everyone.