The paper is devoted to the problem of optimizing the trajectories of parallel robots in the positioning process. The problem of minimizing the duration of the robot positioning cycle in order to increase its productivity is discussed. A new optimization problem has been formulated, aimed at minimizing the total mileage of electric drives during the cycle in order to increase the energy efficiency of the robot. The objective functions of optimization problems based on modified metrics are proposed: Manhattan and Chebyshev. A comparison of the efficiency of using optimal trajectories instead of the "obvious" ones was carried out for various parallel robots: planar, tripod, and delta robots. Conclusions are drawn about the basic requirements for the trajectory of the robot to ensure maximum productivity and energy efficiency.

Keywords: parallel robot, performance, duration of the positioning cycle, energy efficiency, electric drive mileage, objective function, Chebyshev metric, Manhattan metric, optimal trajectory, comparative modeling, planar robot, tripod robot, delta robot