One definition it can be the same as in "grasp/take the pen", a tangible object. In another definition, grasp is the proper word to use as in "grasp the knowledge through practice and observation."
Grasp
1. To take hold of or seize firmly with or as if with the hand.
2. To clasp firmly with or as if with the hand.
3. To take hold of intellectually; comprehend. To show eager and prompt willingness or acceptance: grasps at any opportunity.
Take
Is more of conquer in victory.
American Slang
"Take to the cleaners"-Strong victory over
"Take down"-Often harsh or violent conquering
"Take the floor"-Rise above the others to speak, as to hold others attention or call their attention.