Date of download: 10/2/2017 Copyright © ASME. All rights reserved. From: Multidisciplinary Design Optimization of Modular Industrial Robots by Utilizing High Level CAD Templates J. Mech. Des. 2012;134(12):124502-124502-8. doi:10.1115/1.4007697 Figure Legend: Actuator (left), datum (center), and structure HLCt (right). Shown are also the references required by each HLCt. In order for the actuator HLCt instance to be fully defined, a reference point from datum HLCt, which is not visualized, is also required.