Hi plan, meet reality. Hello reality, meet plan.
It all looks fairly straightforward and simple:
Until you enter the real world:
This is the setup to get the sample out of the processing machine where it is made and into the transfer chamber on the cart. Since everything is very rigid (so it can withstand the vacuum) and squeaky clean (literally - everything that is not the sample has to go out, including all kinds of greases etc.) the whole setup has to be extremely precise. Twist one of the handling rods a little too far and you are doomed. Neglect the hydraulics of the elevating platform, and the whole thing jams. And this is just step one...