Hey MR, just a thought here, but you might not even need a cylinder to make this work pretty well (although "really well" would probably need a cylinder). You could make the grapple fingers such that they are in a fixed position (or, perhaps, mounted in such a way that you can change their position by pulling some pins, rotating them up or down, and re-inserting the pins). Since the bucket has quite a bit of tilt movement, you could then simply close the bucket against the grapple fingers in their fixed position to pick up branches, etc. Instead of attaching the grapple fingers to the bucket, you'd attach them to the lift arms so they stay in a fixed position and the bucket can close against them.
I don't know if you're looking for slick and fancy, or simple and cheap. If simple and cheap is what you're after, the fixed approach might suffice. Anyway, just a thought...
Regards,
Dave