[KrazyCarl92]

Make sure you analyze the degrees of freedom of the gripper/forklift/articulated arm manipulator. What degrees do you NEED to perform the task? What degrees will HELP perform the task? What degrees will be EASILY CONTROLLED? What degrees will be EASILY PROGRAMMED (remember repeatability is very important)? What can be EASILY CREATED & TESTED with your team's resources? Turn around time is very important to give the programmers time to work out kinks with autonomous and for the drivers to get some practice in. From there you can decide which rotational and/or which translational degree(s) of freedom will best allow your robot/team to complete the task.

Good luck, I hope this helps!