The diploma thesis deals with issues of serial and parallel kinematic structures with emphasis on Delta robots, description of their advantages and disadvantages, application of parallel kinematic structures in practice and then design of manipulator with universal joint. The thesis is divided into several chapters describing used kinematic structures with examples of their use, history and current overview of Delta robots, selection of kinematic scheme, creation of value analysis and then creation of structural design with strenght calculations and strenght analyzes of individual parts of Delta robot, determination its workspace, and in last part, an evaluation of the proposed solution is described with its advantages and disadvantages.