This video looks at ways you could design a gripping and lifting system. It includes using a toothed belt or a stepper motor for lifting, and a gripper that opens and closes. It shows you how you can place objects and then move them round as you find better ways of organising them. Generally the first thing you try is not the best.
If you want more details of how to actually draw the poles and the lifting platform using a technique called "design in context", see the next video below:
This movie shows you how to design a lifting platform to slide up and down a pair of poles. It includes the idea of designing in context
This movies shows you how to design the right gripper
This movie shows you how to design the left gripper