I would like to point out the required accuracy for each parameter. I listed my findings here as a summary. And I conclude that mainly the chain tolerances are really worth an optimisation.
What is also pretty interesting in the optimisaton tool is when the optimisation result presents some sanity check by confirming some known values. Let’s say: motor (sprocket) distances or the motor (sprocket) height above the workspace.
And that is where we are heading 