Delta parallel manipulators possess advantages such as high structural stiffness, low moving-platform mass, high acceleration capability and repeatability, making them particularly suitable for high-speed, light-load, and cycle-time-sensitive industrial processes. However, under high-speed operating conditions, the end-effector positioning accuracy may be adversely affected. In this study, the Yifei BAT-1300-S Delta parallel manipulator is selected as the research object. The forward and inverse kinematics of the manipulator are derived using a geometric analytical approach based on vector loop-closure equations. To meet the requirements of high-speed Pick-Place operations, quintic Pythagorean-Hodograph (PH) curves are employed to generate smooth Pick-Place trajectories. Furthermore, a dynamic model of the manipulator is established based on Kane’s equations, and numerical simulations are conducted in MATLAB to verify the validity of the proposed model. Finally, under a prescribed Cartesian-space end-effector trajectory, the effects of motion speed and control parameters on trajectory tracking accuracy are systematically investigated.