PresentedinthispaperisthedesignphilosophyemployedfortheconstructionofDIESTRO,anisotropic,six-axis,serialmanipulator.Thekinematiccriteriaappliedsofarinmanipulatordesignhavebeenbasedlargelyonkinematicsolvability,inthesenseofallowingforclosed-forminversekinematicsolutions.Asopposedtothis