Recently, the optimal design problem of parallel robots with the improvement of the computing capacity of computer systems has many differences in solving methods. First, although the input data is larger in scale and the content of the multi-objective problem remains unchanged, the aims are to eliminate subjective factors related to the ability to automate design. Among the perspectives that have been applied to solve multi-objective optimal design problems, Multi Criteria Decision Making (MCDM) has not been applied to this field. Unlike the Atlas method, which only accepts the limited input materials with the range of criteria related to the Jacobian matrix, MCDM allows any input type for the optimization problem. This method allows the designers to ensure a second group of very important criteria for parallel robots, which is the transmission pressure angle. This article aims to implement an optimal MCDM design for the 3RRR robot with two groups of optimal criteria: transmission pressure angle and Jacobian matrix. The obtained results claim the potential application on all other parallel robots following the same design process with results that simultaneously meet up to 6 different optimization criteria or more.