In　order　to　meet　the　requirement　of　multi-angle　operation　in　industrial　pick-and-place　applications,　a　novel　six　degree-of-freedom　(DOF)　Delta　robot　with　three　sets　of　symmetrically　distributed　coupled　branches　was　proposed.　Firstly,　the　6-DOF　Delta　robot　was　decomposed　into　three　sets　of　coupled　branches,　which　can　be　regarded　as　independent　motion　units　and　can　be　further　treated　as　equivalent　serial　chains.　The　mobility　of　the　overall　parallel　mechanism　was　analyzed　based　on　the　screw　theory　to　demonstrate　that　it　had　three　rotational　and　three　translational　motion　capabilities.　Secondly,　since　each　set　of　coupled　branches　contained　two　kinematic　chain,　the　closed-loop　vector　method　was　used　to　calculate　the　inverse　position　solution　of　two　chain　in　the　coupled　branch,　based　on　which　an　inverse　kinematic　model　of　the　proposed　robot　was　established.　Furthermore,　a　search　algorithm　was　proposed　to　describe　the　robot＇s　workspace　under　the　boundary　condition　which　was　compared　with　that　of　a　traditional　3-DOF　Delta　robot　at　the　same　parameter　level.　Simulation　results　showed　that　the　workspace　of　a　traditional　3-DOF　Delta　robot　was　a　subset　of　that　of　the　proposed　6-DOF　Delta　robot.　Finally,　the　kinematic　experiments　were　carried　out　on　the　engineering　prototype,　the　results　showed　that　the　proposed　robot　had　three　degree-of-freedom　of　rotation　and　three　degree-of-freedom　translational　motion,　and　can　achieve　multi-angle　grabbing　operation.　In　the　robot　workspace,　the　limit　position　of　the　typical　motion　plane　was　consistent　with　the　simulation　analysis　results.　©　2020,　Chinese　Society　of　Agricultural　Machinery.　All　right　reserved.