Service robotics is one of the main priority areas of research in the robotics and automation field. The application of these robots for service tasks (personal assistance, education, social tasks, etc.) has a lot of influence in their design [1], [2]. Several parameters will be crucial like the weight, the kinematics configuration, the layout of masses, etc. These service robots have innovative designs and structures that allow them to move in non structured environments, walking, climbing, etc. One of the main tasks of these robots is to interact and operate with humans. For this reason, their design and development methodology must be different to traditional robots. In this paper we present a new methodology to help the optimization of the process design. This design will allow selecting properly the optimal actuators, materials and the degrees of freedom. This methodology is being developed in a national project between two different areas of this university.