The problem of distribution of force, having the frictional contact between the passive object (manipulating) and active fingers (end-effector) of Delta robots, has been discussed. Computation of force components acting on the object’s points, given the wrench acting on the object and the contact points with respect to the body frame (estimated from the vision sensor) using combined parallel robot architecture, is performed. A pre-calibrated vision sensor was used for the pose estimation of the object. The proposed architecture design is intended to carry heavy payload objects for catching in the real-time scenario.