This chapter covers a number of kinematic performance indices that are instrumental in designing parallel kinematics manipulators. These indices can be used selectively based on manipulator requirements and functionality. This would provide the very practical tool for designers to approach their needs in a very comprehensive fashion. Nevertheless, most applications require a more composite set of requirements that makes optimizing performance more challenging. The later part of this chapter will discuss single-objective and multi-objectives optimization that could handle certain performance indices or a combination of them. A brief description of most common techniques in the literature will be provided
