In this paper an algorithm for designing spatial parallel manipulator parameters for a given workspace has been presented. At the beginning, architecture has been chosen that describes a general parallel manipulator. The manipulator may possess any number of limbs, consisting of links connected by spherical, revolute or linear joints as well
as actuators. The parameters, which will be determined, are the lengths of the links of kinematic chains, the coordinates of the fixing points of the chains to the platform and the base, and orientations of the revolute engines axes situated at the base. The workspace may be specified in the form of any shape in the space containing a set of points of known coordinates and the limits in which the geometrical parameters may vary. The algorithm does not determine the exact values of the parameters, but only their functions. It leads to the necessity for further research in order to optimise the solutions.