Abstarct: The Delta robot is a special form of parallel robot with rotating joints that is used to various applications. In this research, a 6 degrees of freedom (6 DOF) robot is design and made. Necessary experimental tests have be done to control of robot. The conventional delta robot has 3 DOF that in this study, development and fabrication of a new 3 DOF spherical wrist is investigated and then is located to the Delta robot platform, therefore, the degree of freedom of system increases to 6. By using CAD/CAM software, simulation and analysis for system have been done. So, a new type of mechanism has been fabricated by involute axes in the form of conical gears that can create an unlimited revolution for the wrist without singularity. This wrist has the special ability due to its structure and mechanism to use robots for high precision applications and continuous movements without singularity. According to the drawings, the manufacturing of the model for molding and casting of pieces is carried out and then by machining, the dimensions of the parts are achieved to the standard of drawing. The direct kinematic is obtained to calculate the position of the end-effector according to the wrist angles. By using Adams software, the moment, velocity, acceleration and position curves in the workspace is obtained. PID controller is used to control of 3 DOF Delta robot and PD controller is utilized to control yaw, roll and pitch angles of wrist. Also, the necessary changes have been applied in the controller and AVR-baxsed microcontrollers to improve the control of Delta robot and spherical wrist. Finally, to verify the controller performance, simulation results are presented and compared with experimental test.