Not with a six-axis robot as you do not have the required redundancy.
If you put the robot onto a rail (= 7 axis system), you could e.g. move the rail in a way that there is minimal A1 movement.
With a 6 axis robot you can just lay out the frames in an efficient way that improves reachability and reduces A1 movement. But there is no standard strategy or pattern you could use - that very much depends on what you are using the robot for.