Abstract In this work, an approach based on velocity profile selection is developed and validated to decrease forces, acceleration, velocity, mechanical power, and energy consumption in 1 DOF Cartesian manipulators. Initially, a mathematical modeling of the kinematic and kinetic variables rising in linear, exponential, parabolic, sinusoidal, and s-curve ramp velocity profiles is proposed for different load conditions and saturation values of the velocity profiles, focusing on generic Cartesian manipulators moving a constant inertia load and not equipped with regenerative devices. Lastly, a summary table outlining the benefits and drawbacks of each velocity profile in relation to the relevant variables is given to the reader, along with a set of recommendations for selecting the best velocity profile in accordance with the load conditions and optimization goals. It was shown that, depending on the load conditions, the inappropriate choice of one type of speed profile can increase the required forces by up to 400%, the required maximum power by more than 88%, and the energy consumption by up to 77% with respect to the optimal speed profile.