From the drawing, im not sure exactly how the heights are going to work out. You say the max. height your robot can reach is 107.67'', which is when your robots arm is completely vertical. To me, that seems fine, as David said, if you pick the tube up from the bottom, you may not have a problem reaching the top spider leg.
From the picture though, the arm is at an angle, making the max. height significantly lower. Is that the problem you were referencing? If so, we can discuss further improvements on the design.
