This paper deals with dynamic dimensional synthesis of the Delta robot using the pressure/transmission angle constraints. Two types of pressure/transmission angles are defined, with which the direct and indirect singularities can be identified in a straightforward manner. Two novel global dynamic metrics are proposed for minimisation, which are associated respectively with the inertial and centrifuge/Coriolis components of the driving torque. Various geometrical and performance constraints are taken into account in terms of workspace/machine volume ratio, pressure/transmission angles, etc. The effects of pressure/transmission angle constraints on the feasible domain of design variables are investigated in depth via an example, and a set of optimised dimensional parameters is obtained for achieving a good kinematic and dynamic performance throughout the entire task workspace.
