We found out that when the arm is fully extended, a few centimeters will be able to reach over the other end of the line to grab the can when the robot is in-between the can line and the starting line. This led us to wonder if a fixed arm with a large hand attached to a rotating robot might be the quickest method to grab a many cans as we can. However, we discovered that the diameter of the can is just slightly too big that the robot have to go in a little further to grab the can. We thought of the robot moving in a diamond shape, but we couldn't guarantee that the robot will be in the same position all the time. So it was back the drawing board.
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