Delta robot is a type of parallel systems which has a complex nonlinear structure suitable to apply different mathematical algorithms. In recent years, researchers have been focused on the parameter estimation of a nonlinear mechanical system to compute optimal system parameters. However, few researchers tried to evolve the delta robots in such a system. In this contribution, we present a procedure for parameters estimation in multibody system model of the delta robot system. Firstly, the multibody model of the delta robot is formulated using Lagrange formulation. Then, the Matlab Simscape Toolbox is used to construct and verify the multibody model. Finally, a parameter estimation module is used to estimate optimal parameters by comparing the simulated model output with experimental measured data. The type of delta robot used in this study is D3S-800 and utilized for the multibody model validation. Detailed experimental results show that the modeled system is validated, which provides a reference for the dynamic optimal design of a delta robot system.