TABLE I.

Geometric Optimization

Condition	Db (mm)	Dt (mm)	Lm (mm)	Fval (gf)
Set all upper and lower bounds	16.00†	11.00	22.00*	89.95
	20.00†	13.18	22.00*	70.42
	24.00†	16.50	22.00*	59.60
	28.00†	18.49	22.00*	52.90
	32.00†	20.47	23.00	48.65
No lower bound for Lm	16.00†	12.52	10.00	70.44
	20.00†	14.52	13.28	62.60
	24.00†	16.50	16.18	56.79
	28.00†	18.48	18.66	52.27
	32.00†	20.47	21.40	48.63

Db = base diameter, Dt = platform diameter, Lm = length of actuator module, and Fval = cost

^*Value set a upper bound.

^†Value set at lower bound.