Click HERE to download the simulator of the Delta robot.
You can run the applet shown below.
In the applet below, you can move an asymmetric Delta robot in forward kinematics mode and modify the geometry of the robot to visualize its singularity locus in the workspace. Additional windows will also show you the singularity locus in the joint space.
If the applet does not run, or it is not displayed correctly in your web browser, you can download the simulator HERE