Parallel robots kinematic design and optimization is a complex task that involves many preliminary stages to fulfill different user needs. Few literature works provide a simple and robust framework to achieve an optimal solution for the multi-objective kinematic design problem. This research describes a methodology for the optimal kinematic design of parallel robots, leading to the development of performance charts for a graphical selection of an optimal set of design parameters. To illustrate the application of the proposed methodology, the linear delta parallel robot is under study, obtaining the global performance charts of the condition, velocity, and payload indices.