Based on the selfbuilt Delta parallel robot, the hand guide demonstration and teaching playback of the parallel robot were studied to reduce its control difficulty and improve the practicality and collaboration of the parallel robot. The kinematics and dynamics of the Delta robot were modeled, and the external sensorless robot hand guide demonstration test was carried out, finally the motion playback was performed after each joint trajectory was optimized. The results show that by using the proposed method, operators can hand guide the parallel robot conveniently, thus the robot can be deployed rapidly.