SCARA (Selective Compliance Assembly Robot Arm) robots have found extensive utilization in the industrial sector for performing assembly tasks in both the mechanical and electronics segments of the manufacturing field. An essential concern when operating the manipulator is to prevent singular arm configurations, which significantly compromise robot performance. This paper presents a remedy for the optimization challenge concerning a SCARA Revolute-Prismatic-RevoluteRevolute-type (RPRR) robotic manipulator, aiming to prevent singular configuration. To address this issue, inverse kinematics and forward kinematics models of the SCARA robot manipulator are constructed. These models depict the relationship between the active joint and the position in the Cartesian coordinate system, as well as the rotational angle of the end effector. The matrices derived from the kinematics are Jacobian matrices, which are then utilized to determine singular configurations. The results are verified using Matlab/Simulink software to facilitate tasks such as size design, and workspace analysis to exclude singular configurations. The experimental fabrication of the 3D-printing-based SCARA robot arm and the operation of the robot validate the proposed solution. The simulation and experimental results demonstrate the feasibility of the proposed method.