Compared with the rotation driven, the linear driven Delta parallel robot has larger work space and better structure stiffness, but study of linear driven Delta parallel robot kinematic analysis algorithm is less and the algorithms are more complicated. For this reason, an algorithm to solve the problem of kinematic is put forward by using the coordinate relation in this paper, which is based on the simplified linear driven Delta parallel robot. Firstly, the construction of the linear driven Delta parallel robot is simplified and a structure model is established. Then, the space coordinate system is set, and the structure relation of robot is transformed into the coordinate relation.Finally, The ternary quadratic equations are established according to the coordinate relation to solve the kinematics relation. Among them, the problem of multiple solutions of equation can be solved by setting constraint conditions.The experiment results show that the algorithm is simple and robustness, and it has better performance to use.%与旋转驱动型相比，直线驱动型Delta并联机器人具有更大的工作空间和更好的结构刚度，但其运动学分析算法研究较少且复杂。针对上述问题，本文在简化直线驱动型Delta并联机器人运动模型的基础上，提出基于坐标关系的运动学问题求解算法。首先简化直线驱动型Delta并联机器人结构，并进行结构建模；然后设定空间坐标系，将机器人的结构关系转化成坐标关系；最后根据其坐标关系，建立三元二次方程组，求解运动学关系。其中，方程组多解取舍问题可通过约束条件的限制有效解决。实验结果表明，本文算法简单合理、鲁棒性好，使用价值高。
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