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We discuss under which joint conditions it can be considered and we show the possibility to extend this approach to redundant serial chain robots by substituting nonsquared Jacobian minors for squared-Jacobian determinant, thanks to the powerful so-called cubical dissection theorem peculiar to the zonotope theory. Two examples are considered: a 4R anthropomorphic regional arm structure and a 3R planar human digit-like structure. <\/jats:p>","DOI":"10.1142\/s0219843613500308","type":"journal-article","created":{"date-parts":[[2014,2,6]],"date-time":"2014-02-06T03:06:54Z","timestamp":1391656014000},"page":"1350030","source":"Crossref","is-referenced-by-count":0,"title":["CLOSED-FORM WORKING VOLUME COMPUTATION AND STRUCTURAL OPTIMIZATION OF REDUNDANT SERIAL ROBOT CHAINS DERIVED FROM ZONOTOPE THEORY"],"prefix":"10.1142","volume":"10","author":[{"given":"BERTRAND","family":"TONDU","sequence":"first","affiliation":[{"name":"Institut National de Sciences Appliqu\u00e9es, University of Toulouse, Campus de Rangueil and LAAS-CNRS, 7 avenue du Colonel Roche, 31077 Toulouse, France"}]}],"member":"219","published-online":{"date-parts":[[2014,2,9]]},"reference":[{"key":"rf1","doi-asserted-by":"publisher","DOI":"10.1115\/1.3254968"},{"key":"rf2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3254990"},{"key":"rf3","doi-asserted-by":"publisher","DOI":"10.1115\/1.3256412"},{"key":"rf4","doi-asserted-by":"publisher","DOI":"10.1177\/027836498300200302"},{"key":"rf5","doi-asserted-by":"publisher","DOI":"10.1177\/027836498600500212"},{"key":"rf6","doi-asserted-by":"publisher","DOI":"10.1115\/1.3258710"},{"key":"rf7","doi-asserted-by":"publisher","DOI":"10.1115\/1.3258711"},{"key":"rf8","volume-title":"The Physiology of the Joints: Upper Limb","volume":"1","author":"Kapandji I. 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