Most robots we are familiar with are general purpose robots, designed by their manufacturers to perform a wide variety of tasks in a number of operating conditions. In designing these robots, the manufacturers usually attempt to maximize parameters such as payload and velocity while minimizing manufacturing cost. For space applications, there are other design criteria which must be met. For instance, unlike ground based robotic systems, for which an "unlimited" amount of power is available; space based robotic systems have only a limited amount of available power. In addition, the use of robotics in space in the immediate future will be primarily for one-of-a kind applications, therefore designing an arm to minimize manufacturing cost is a low priority. To allow for the successful utilization of robots in space, new techniques are needed to meet these design criteria. In this paper, the author will present a method to give robot designers a starting point for designing "optimal" robots for space applications.