Aiming at the target about the pick-and-place task for Delta parallel manipulator, the central coordinates of target object were obtained based on MATLAB image processing technology. The five degree polynomial trajectory planning algorithm of the manipulator was carried out in cartesian space to obtain the trajectory of the end motion platform. The Simulink/Simmechanics joint simulation system was established.The polynomial trajectory planning was solved in Simulink to obtain the real-time target angle,which was transferred to Simmechanics to simulate the continuous track motion of the manipulator,and the dynamic parameters of manipulator were obtained.Using MATLAB/GUI to design simulation platform,image processing function and motion simulation function〖JP〗 were integrated to realize the data transmission between different plug-ins. At last, the reliability of simulation platform were verified by 〖JP3〗motion simulation example. The simulation platform has great value to the selection of driving motor and intelligence control of manipulator.