I would like you to change the rule for handle.
With current rule, robot height is up to 22cm but handle height must be in range of 22±2cm.
If robot height is close to 22cm, space for handling is 2cm at most. It is too narrow for.
If robot height is about 10cm, handle becomes too long, much heavier and less stiffness.
Better rule that I think is "Handle must keep distance, 5cm~10cm, from the highest structure of robot.".
If it is hard to read, I am sorry. I am not good at using English, because I am not native English speaker.