Delta robot as a parallel mechanism has been gaining widespread attention. In recent years, researchers have been focused on the construction of serial structured robots. However, few researchers tried to evolve the delta robots in such a system. This study attempted to simplify the delta robot mechanical structure to obtain a kinematically driven Multi- body System Dynamics (MBS) model. The simplified model preserves lower computing costs and faster response than the typical MBS model to be applied in real-time control applications. The simulation results of the simplified MBS model were compared with the results from the typical MBS model of the whole system and the loop closure method, both of which were identical to each other and different from the simplified MBS model. The same motion behavior of the end effector was obtainable using the simplified MBS model and was the same as the realistic behavior. The simplified MBS model created in this study can describe the kinematics of the delta robot, which has prosperous prospects in dynamics, control, and design optimization of the robotic field.