The synthesis theory for spatial linkage systems can be formulated in a way that is compatible with the geometric design of serial and parallel chain robotic systems. Mechanism design generally seeks exact solutions for a finite approximation, to the trajectory of a moving frame. In contrast, robots must have a six-degree-of-freedom workspace with specific characteristics such as shape and size. The paper describe an inventor's environment that fits these workspaces to a designers specification. Current results yield the five-degree-of-freedom TS robot and four-degree-of-freedom CC robot that fit a desired continuous task.