Link Robot, is a three arms robot. The arms of robot was installed parallel with the central joint where the gripper was installed as the end-effector. Generally, the end-effector was aimed to pick and place an object in the workspace area of robot. The mechanism of gripper move at X, Y, Z axis was determined by calculating the inverse kinematics of every robot’s arms. Then the result was used to convert the motion of gripper from linear motion to become rotation motion. In this study, the analytical method to calculate the invers kinematics of five-axis delta robot was developed. By using this method, the rotation of actuator to achieved the required position could be calculated. The proposed method was tested by program the end-effector to follow a complex trajectory. By using a simulation program that was developed in this study, the rotation of every motor could be calculated.