Fixed base

Joint bending limits

\(20^{\circ }\) for all the joints

\(40^{\circ }\) for the first two joints. \(5^{\circ }\) for the rest

Objective function

36.60

18.86

Moving base up to 5 mm

Joint bending limits

\(20^{\circ }\) for all the joints

\(40^{\circ }\) for the first two joints. \(5^{\circ }\) for the rest

Objective function

35.24

17.65

Moving base up to 7.5 mm

Joint bending limits

\(20^{\circ }\) for all the joints

\(35^{\circ }\) for the first two joints. \(5^{\circ }\) for the rest

Objective function

25.44

6.5

Moving base up to 10 mm

Joint bending limits

\(20^{\circ }\) for all the joints

\(30^{\circ }\) for the first two joints. \(5^{\circ }\) for the rest

Objective function

2.66

0.11
