In order to extend the workspace of DELTA robot, a new kind of redundant XY-DELTA robot is designed and its kinematics is modeled. First, the DELTA robot system was designed by using ADAMS software, and then according to the actual need, XY platform was designed, and DELTA system was installed at the end of the XY platform, and the model of the redundant system was built. Finally, simulated experiments show that feasibility of the model of XY-DELTA robot system is verified, and can improve the shortcomings of the DELTA robot system which has a small workspace, which has a certain practical reference value.