This paper addresses a comparative analysis of a three degree of freedom (DOF) planar parallel manipulators (x, y and φ) namely 3RRR, 3PRP, 3PRR, 3PPR base, 3PPR U base and 2PRP-PPR in terms of optimal kinematic design performance and dynamic performance. Kinematic and dynamic performance analyses of these six different configurations have been done using MATLAB and Adams/View software. From the simulation results, it is observed that the 2PRP-PPR planar parallel manipulator is associated with a few favorable optimum design aspects namely singularity free workspace, isotropy and better dynamic performance in terms of energy requirement as compare to other planar parallel manipulators discussed here. © 2015 ACM.