The design of mesoscale parallel robots is a complex task that requires careful consideration of the fabrication methodology to be employed in order to achieve the objectives of both a large workspace and high-speed operation. This work presents the finite element design of an additively manufactured multimaterial parallel robot. In order to achieve the objective of high speed, piezoelectric actuators are employed. However, in order to achieve the objective of a large workspace, the actuators require a mechanical transmission to amplify their fast but small linear motions into larger rotational motion [1]. The design of the transmission is investigated via finite element to identify the crucial parameters for operation and compatibility with additive manufacturing. Two specific design cases are investigated in detail: the use of a flexible (elastomeric) material for the entire structure, and that of a multimaterial flexible/rigid structure. The candidate transmissions are then fabricated via additive manufacturing and tested experimentally to confirm the critical design parameters identified in the finite element model. The experiments confirmed both material incompressibility and geometric nonlinearity as two critical features of the analysis. Employing the knowledge gained via the finite element analysis and experimental testing, a small-scale 2RRR parallel robot is designed holistically via a finite element design optimization procedure to maximize the workspace area of the parallel robot while holding out of plane deflections to an upper bound. The parallel robot is then fabricated and experimentally demonstrated to show conformance to the finite element model with more sophisticated material models better able to describe the performance. REFERENCES [1] A. Tabak and R. Orszulik. A Monolithic Flexible Transmission for Piezoelectric Actuators. IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 138-143, 2022.