Abstract: With the advancement in automation industry there is a need of robot which can pick and

place the objects within no time. In order to meet the criteria, we designed a three-legged parallel
manipulator termed as “Delta Robot”. Its been developed with the goal of reaching high speed and high
accuracy. Parallel kinematics of robot is constructed on three parallelogram mechanisms. Kinematic loop
of Delta Robot was calculated by inverse kinematics. The kinematics is used to determine the trajectories
of the three robot arms in space and its corresponding motion. The dynamics part deals with forces
action on the arms and the torque on the stepper motors. We have successfully performed pick and
place of objects through vision system.