Dimensional synthesis of a three translational degrees of freedom parallel robot while considering kinematic anisotropic property

► Dimensional synthesis of the Delta robot while considering kinematic anisotropy. ► The velocity transmission index is adopted as the objective function. ► A novel index instead of transmission angle is applied to constrain the transmission. ► The syntheses are performed with different velocity requirements and constraints. ► The methodology could be useful for the dimensional synthesis of other parallel robots.