We present an optimal configuration for Stokes polarimeters based on liquid crystal variable retarders, with the minimum number of measurements. Due to the inherent variations of the director orientation of the liquid crystal molecules, we propose a configuration that minimizes the sensibility of the polarimeter to fast-axis variations. For the optimization we consider a scheme that maximizes the volume of a tetrahedron inscribed in the Poincare sphere, to address additive and Poisson noise, with one of the vertices invariant to changes in the axis positions. We provide numerical simulations, considering misalignment errors, to analyze the robustness of the configuration. The results show that the proposed configuration helps to maintain the volume enclosed by the tetrahedron with high tolerance to fast-axis orientation errors. The condition number will remain below 3.07 for common misalignment errors and below 1.88 for more controlled liquid crystals. This optimization will improve the performance of liquid crystals polarimeters, with a more robust configuration that also considers misalignment errors, beyond additive and Poisson noise.