Palletisers pack products highly efficiently on uniform and easy-to-handle pallets. One of the tasks to be performed by suchpalletisers is the space-saving arrangement of the fed products in individual layers, which are then stacked on the pallet.As part of a cooperation between Trapo AG, a supplier of conveyor systems, automation technology in logistics, grippersystems and palletising systems, and the Institute for Mechanism Theory, Machine Dynamics and Robotics of RWTHAachen University, a high-performance kinematic system for building these layers is to be designed. In the context of thiscontribution, a novel optimization-based approach will be presented, taking into account dynamics and stiffness. For theselected parallel fivebar structure, a set of parameters is defined which describes the kinematic and dynamic properties aswell as the stiffness properties. A model of the robot created from this will be optimised with regard to the required drivetorques and the deformation of the robot on the basis of example tasks. The Matrix-Structure-Analysis is used to createan efficient stiffness model.