This work is focused on the kinematic analyses and simulation of the Delta parallel robot. This robot is proposed in this study, which solves the forward kinematics by vector method. The half-angle formula is used to derive the inverse kinematics. The workspace of the Delta robot is presented dependent on the solution of forward kinematics. This parallel robot model was built in Solidworks and then imported into MATLAB/Simscape to do the simulation. The simulation represents the position and velocity of the moving plate, study the angular position and velocity of each joint.