**8. Conclusions**

This article discusses a new robotic system design for aliquoting of biomaterial based on a Delta-type parallel robot with revolute kinematic joints. For the proposed robotic system, effective numerical methods and algorithms for determining the workspace, taking into account singularity zones and interference of links, have been developed and tested. An optimal design procedure has been carried out and robot design solution has been selected that achieves the maximum workspace for a given footprint size. For the selected design solution, the optimal ratio of the lengths of links *a*, *c*, *d*, and *e* relative to the link length *a* has been determined as being 1:1.41:8.41:19.51, respectively. The parameters were optimized taking into account the requirements of the aliquoting process. As a result, the optimal value of the criterion *k* = 1.778 was obtained for the following dimensions: *a* = 61 mm, *c* = 87 mm, *d* = 478 mm, *e* = 1485 mm, and *rc* = 1187, 29 mm.

**Author Contributions:** Conceptualization, D.M., L.R. and G.C.; methodology, D.M., A.N. and L.R.; software, D.M.; validation, L.R., T.S. and A.N.; formal analysis, D.M.; investigation, D.M.; resources, D.M., L.R. and A.N.; data curation, T.S. and A.N.; writing—original draft preparation, D.M.; writing— review and editing, L.R. and G.C.; visualization, D.M.; supervision, L.R. and G.C.; project administration, L.R. and G.C.; funding acquisition, L.R. and G.C. All authors have read and agreed to the published version of the manuscript.

**Funding:** This work was supported by the state assignment of Ministry of Science and Higher Education of the Russian Federation under Grant FZWN-2020-0017.

**Institutional Review Board Statement:** Not applicable.

**Conflicts of Interest:** The authors declare no conflict of interest.
