Recently delta robots, a type of parallel systems, are gaining increasing attention from researchers to investigate studies of its kinematics and dynamics. In recent years, researchers have been focused on the parameter identication of a nonlinear mechanical system to compute unmolded parameters. However, few researchers tried to evolve the delta robots in such a system. In this contribution, we present a procedure for parameters estimation of multibody system dynamics (MBS) 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 veried the multibody model. Finally, a parameter estimation tool is used to validate an estimated model by comparing the simulated model output with measured data. The type of delta robot used in this study is D3S-800 and used for the multibody model validation. The result dates are showed that the modeled system is validated, which provides a reference for the dynamic optimal design of a delta robot system.