In the present paper, a control-based design methodology is developed in order to create a DELTA robot with the best accuracy performance for a dedicated controller. The proposed control-based design methodology takes into account the accuracy performance of the controller in the design process to get the optimal geometric parameters of the robot. Three types of controllers are envisaged for the control of the motions of the DELTA robot: leg-direction-based visual servoing, line-based visual servoing and image moment visual servoing. Based on these three controllers, positioning error models taking into account the error of observation coming from the camera are developed. Then, design optimization problems are formulated in order to find the optimal geometric parameters and camera placement for the DELTA robot for each type of controller. Co-simulations of the robots optimized for the three types of controllers are finally performed in order to check the accuracy performance of the three robots.