Abstarct: The capabilities of the parallel robots increase their efficiency in the industry as well as increasing their attention to scientific research. In this thesis, we present the super twisting sliding mode control algorithm for a parallel delta robot. The Lagrange method has been applied to extract the dynamic equations of the delta robot. Due to the geometrical relations of the Delta robot and the parallel kinematic chain, the inverse kinematics equation is calculated as a closed loop form. In this work, a sliding mode control strategy, due to dynamics uncertainties, is used to control of the robot on a desired trajectory. This strategy is designed, according to robustness properties of this method against the dynamic uncertainties and load disturbance. In the simulation section, for comparison purposes, the feedback-linearization controller is utilized for the delta robot. The applying sliding mode control method is good trajectory tracking, but it has no good performance against disturbances. In the following, a high-order sliding mode control (super twisting algorithm) is used to resolve this problems. Simulation results show that the proposed algorithm has good performance in trajectory tracking in presence of uncertainties and disturbances.