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Not enough info.

One issue re pneumatics is safety.

Having a metal arm being moved by pneumatics can be dangerous. I think most if metal are done in aluminum, not steel. This is to save weight and reduce mass which equals danger. You could go the PVC route. No welding required. Plus lighter and perhaps a bit less dangerous.

Please provide a detailed description of what you want to do.

You may want to search for other pneumatic prop examples.
 

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Scissor

Sounds like a Scissor is what you want.

You could mount on fixed position in garage. Cylinder attaches to scissor. If you want hand to move three feet, a scissor made with four sections of one foot units should net you your 3 ft of travel.
 
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