Pick and place cartesian coordinates robot 2mx2m

Please some one suggest me how to make low cost optimum pick and place robot to lift 2 Kg and twist 180 Deg, having 2 metre height (Y axis), 2 metre width (X axis) and 1 metre (Z Axis) Arm movement which need to be telescopic 1/3 of 1 metre at initial condition.
The vertical column only supported by single concrete wall.

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