With the rapid increase in the application of parallel robots in recent years, delta-type parallel robots have become predominant compared to other parallel robots. Furthermore, due to the demand for expanding the technological scope, new designs have emerged, featuring robots similar to the delta type but with four legs instead of three. In the design process of these robots, multi-objective optimization problems are often solved, where evaluation criteria are based on the Jacobian matrix and pressure transmission angle. These characteristics are usually established through the analytical solution of the robot, as the delta robot series allows for an analytical solution to the inverse kinematics problem. However, in the stage of multi-objective optimal design, this approach leads to the handling of optimization problems with objective functions in functional form. To avoid this, the author proposes describing the aforementioned quality criteria through numerical solutions. Maintaining the mesh survey structure when calculating different criteria is also highly beneficial when employing the Atlas design method for delta robots.