Friction in passive joints plays a critical role in the dynamic behavior, accuracy, repeatability, and energetic efficiency of parallel robotic systems, particularly in Delta-type architectures. These effects are especially pronounced in low-cost robotic platforms, where manufacturing tolerances, material choices, and joint surface quality can significantly amplify friction-related phenomena. This paper presents a parametric analysis of joint friction effects on the dynamic and kinematic performance of a low-cost Delta parallel robot, based on an existing multibody model developed in the MATLAB Simscape Multibody environment. The proposed methodology exploits the native joint friction modeling capabilities of Simscape Multibody, enabling the systematic introduction and comparison of different friction formulations within the robot’s passive joints. Several friction models are considered, ranging from classical Coulomb and viscous formulations to nonlinear models capable of capturing velocity-dependent effects. The influence of friction parameter variations is evaluated in terms of positioning accuracy, repeatability, dynamic response, and mechanical energy consumption along representative motion trajectories. Particular attention is given to the trade-off between increased energy demand due to friction and its stabilizing effect on the system’s dynamic behavior. The results provide insight into how friction modeling choices and parameter values affect the overall performance of low-cost Delta robots, supporting informed decision-making during mechanical design and simulation-based analysis. The proposed framework also establishes a foundation for future extensions toward vibration analysis, wear modeling, and friction-aware control strategies.