Because a robot manipulator is required to perform various tasks, the maximum performance must be evaluated in advance. In this study, a novel method to evaluate the maximum dynamic performances (velocity and force) of a 3-DOF manipulator is proposed. To determine the maximum end-effector velocity according to a varying payload, a multi-objective optimization problem is formulated. An optimization framework that connects the multi-body dynamics analysis module and the optimization module is built for numerical simulation. The proposed method was applied to a 3-DOF manipulator to evaluate the maximum dynamic performances. The simulation results demonstrated that the maximum end-effector velocity could be precisely determined according to the varying payloads, contributing to optimal trajectory planning for the redundant manipulators.