This study established the elastodynamic model of Delta robot and analyzed its dynamic characteristics. Based on the finite element theory and lagrange equation, in fully consideration of the active arm and the driven arm′ s spatial dynamic characteristics and motion coordination, the systematic elastic dynamic model of Delta robot was established. According to the structure parameters of the system, the physical prototype of Delta robot was manufactured, and the elastic dynamic model was verified. Then, the Delta robot modal analysis was carried out using Ansys Workbench. The numerical solution of displacement of moving platform was in line with the result of test. Combined with Matlab, compared to the results of numerical calculation and simulation of the first six order natural frequency of the system, the maximum frequency error was 3.912%; compared to before and after element rigid assumptions, the system′ s maximum frequency error was 1.693% , verifying the rationality of static avnd moving platforms and the rotating joint rigid assumptions in the process of elastic dynamics modeling. It was determined that the driven arm robot was the weak link of the system. The weak link needed to be improved to improve the dynamic performance of the whole robot. This study verified the rationality of static and moving platforms and the rotating joint rigid assumptions in the process of elastic dynamics modeling, improved the structure parameters of the driven arm to improve the overall dynamic performance of the robot, and provided theoretical basis for the structural optimization and vibration control of Delta robot.