This was actually my idea. I wrote to the Twins manager and the pitching coach every year for 3 years saying the Twins should go to a 3-day rotation where every pitcher pitches about 60 pitches per start and you have two planned "starters" in each game, each pitching about 3 innings, and then the bullpen takes over the last 3 innings or so. So you have basically a 6-man rotation. Your best 6 pitchers will get more innings that way and be more effective.
When athletes train, they do not go all out every 5th day and then take 4 easy days. They work out every other day or alternate hard days and easy days. It should be the same with pitchers. Pitch about 3 innings every third day or about two innings every other day.