Basically is a design optimization problem. Once you have your parallel haptic device you will have a jacobian matrix for every single position. From each of these positions you can obtain its singular values out of the jacobian matrix. With the singular values you can calculate an isotropy index that can guide you to optimize your design to improve it.  There exist many isotropy index out there, some for individual positions (e.g. condition index) and other for a given global volume. Minimizing this condition index in the workspace of your interest with the design parameters of your haptic device should do the job. 

Thanks for reply.

Yes you are right. it is a Mechanism dimensional design problem. In the case of parallel robots one get a jacobian matrix, that can be used for maximizing the isotropic index. But i have the problem with the units in the jacobian matrix(it consist of both transnational and rotational element). How i should deal to get a uniform matrix having the same units or unitless.

you can view this

i think you can use Autonomic Workload Provisioning (AWP) technique this can be helpful to you

https://www.researchgate.net/publication/265058562_Survey_on_Resource_Management_Strategies_for_Desktop-as-a-Service_in_Cloud_Environment

Article Survey on Resource Management Strategies for Desktop-as-a-Se...