A improved delta robot with a novel transmission mechanism to reduce abrasion and a new configuration of end effector is proposed in this paper. Specifically, the traditional telescopic chain which employs prismatic pair is replaced by parallel mechanism with four rods hinged. The frication in the connection can be significantly decreased. The motor that drives the telescopic chin is fixed on the base so that the moving platform can reach high speed and high acceleration. As for end effector, it is designed as mechanical claws based on the principle of plane thread. This structure makes it better adapted to multifarious shapes of load. Moreover, the rigidity and the stability of the end effector are distinctly improved. In addition, the analysis of kinematics including inverse kinematics and direct kinematics is conducted on the simplified system. The analytical results are validated by the co-simulation that combines ADAMS with MATLAB. The study of the kinematics is the solid foundation for parameters optimization and further control.