The installation for base frame of the dual redundant arm is usually ignored. To sufficiently demonstrate the importance of base frame arrangement and optimize the installation, some performance indices used for evaluating the dual-arm’s capabilities are proposed in this paper. Firstly, some static performance indices such as common workspace, swivel angle range, manipulability are considered to verify the importance of base frame arrangement, the tilt angles (upward and/or forward angle) range are given by these indices. Furthermore, some dynamic performance indices such as task-oriented dual-arm manipulability are used for optimized installation base on task requirement (examples include tight cooperation). In the end, the best base frame installation based on a series of performance indicators is identified to certify the most desired manipulation performance.