Aiming at the problems in the structural design of the Delta parallel mechanism,the dynamic model and kinematic model of the Delta parallel mechanism were studied,and a design method to solve the comprehensive problem of the Delta parallel robot scale was discussed.Through the design of experiment on the main dimensional parameters and 6 performance indicators of the Delta robot,the performance indicators were combined into 3 optimization objective functions.By using non-dominated sorting genetic algorithm Ⅱ on the iSIGHT software platform,the 3-DOF Delta parallel mechanism was comprehensively scaled under a specific trajectory;the Pareto charts of the objective functions under the two optimization strategies were compared.The results show that the optimization strategy after reducing the objective function has good convergence,low computational cost,and more feasible solutions.