Abstract: Delta parallel mechanism has attracted more attention since it has 3 translational degrees of freedom andemploys only revolute joints. The existence of offsets has made it easy to manufacture at low cost . However, it increased the difficulty of kinematic analysis. A closed-form solution of both forward and reverse kinematics for the 3DOF Delta parallel mechanism with offsets is developed by applying the dialytic method of elimination in this study.A geometric analysis method is also applied to confirm the results. It is shown geometrically that there are 14 realsolutions to the forward kinematics problem on condition that all legs are symmetrical and the links length of each leg is the same. Application of the vector operation simplified the course of kinematic analysis. Finally, some inaccuratepoints of view are also indicated in this paper.

Key words: kinematic analysis, parallel mechanism, dialytic method of elimination, geometric analysis method