You can use that translation:
text node to distinguish authors from translators - authors are preceding siblings of the "translation:" text node, translators - following siblings.
Authors:
//text()[contains(., 'translation:')]/preceding-sibling::a[@class='booklink' and contains(@href, '/author/')]/text()
Translators:
//text()[contains(., 'translation:')]/following-sibling::a[@class='booklink' and contains(@href, '/author/')]/text()
Working sample code:
from lxml.html import fromstring
data = """
<td>
<a class="booklink" href="/author/43710/Author 1">Author 1</a>
,
<a class="booklink" href="/author/46907/Author 2">Author 2</a>
<br>
translation:
<a class="booklink" href="/author/47669/translator 1">Translator 1</a>
,
<a class="booklink" href="/author/9382/translator 2">Translator 2</a>
</td>"""
root = fromstring(data)
authors = root.xpath("//text()[contains(., 'translation:')]/preceding-sibling::a[@class='booklink' and contains(@href, '/author/')]/text()")
translators = root.xpath("//text()[contains(., 'translation:')]/following-sibling::a[@class='booklink' and contains(@href, '/author/')]/text()")
print(authors)
print(translators)
Prints:
['Author 1', 'Author 2']
['Translator 1', 'Translator 2']