Table 5.

Values of the changing structural parameters for different mechanism sizes and the resulting cost function

Parameter	Extra-small	Small	Medium	Large
m (mm)	+41.5	+44.2	+47.2	+50.1
m2 (mm)	+94.5	+67.6	+101.2	+105.7
δ (°)	+145.7	+120.6	+95.2	+74.2
δ2 (°)	−32.79	−28.46	−24.25	−20.45
μ (°)	−19.93	−19.99	−19.67	−19.13
Cost function,J (mm)	7.58	3.42	2.14	5.01
Per 30 points, J/30 (mm)	0.25	0.11	0.07	0.17