## 2 Process of Manipulator Development  
Design in a systems approach can be presented in the form of the so-called V-model of the product life cycle [1]. The V-model is an illustration of the product life cycle consisting of two branches in which the processes are arranged in the shape of the letter V. The left part lists the processes related to the design process, such as requirements definition, feasibility study, top-level system design, subsystems and components, and production and integration. In the right branch of the model, for each process of the left branch, there are corresponding processes verifying the compliance of the results with the requirements.  
In the \"creative\" processes presented in the left branch of the V-model, one can recognize the approach to design also implemented in advanced CAD environments called top-down design. In this approach, the highest level of the system is defined first and then the system is decomposed into smaller subsystems and components, which are subject to detailed design, production, and integration. This approach supports maintaining the compliance of the results with the requirements. In the opposite approach to design (bottom-up), the components are defined first and then higher-level subsystems are built from them. The final effect results from the capabilities and characteristics of the components. A comparison of both types of design approaches is presented, for example, by [PERSON] et al. [2].  
The design process of a robot manipulator is inherently linked to optimization. According to the principles outlined by [PERSON] [3], the design process should adhere to two key rules: (1) the structure must meet all fundamental construction conditions without exceeding a set threshold, and (2) the design should be optimized under given constraints based on established optimization criteria. The first principle emphasizes that the design must be guided by clearly defined requirements. The second underscores that decisions made during the design process inherently constitute an optimization process. Optimization involves finding the best solution to a problem based on specific criteria, such as cost,reliability, accuracy, or task completion time, while considering existing constraints [4]. An example of an approach to optimize construction is design for assembly (DFA) [5]. The process of optimization includes developing a model of the problem, defining evaluation methods for potential solutions, and identifying an optimal solution using appropriate mathematical techniques [6].  
The task of designing manipulators is a complex issue that requires optimization in multiple aspects. This includes selecting parameters for drive mechanisms, defining kinematics, and optimizing the supporting structure of the mechanism. Structural optimization can be approached through various methods, such as size optimization, shape optimization, and topology optimization [7]. Size optimization focuses on selecting the optimal parameters that describe the geometry of the structure, such as wall thickness, dimensions, or the number of holes. Shape optimization involves modifying the mesh describing the component according to predefined criteria while maintaining its topology. In contrast, topology optimization is a more general approach that optimizes the material distribution of a part to accommodate the specified load conditions. The topology optimization process begins by defining the boundary conditions, including the optimization area, passive regions, constraints, and loads. The optimization criteria may involve minimizing compliance while reducing the component's volume. For manipulator construction, it is particularly important to account for the varying magnitude and direction of loads on individual segments, which must be considered in subsequent calculations.