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Yes, the URDF does not support parallel robots.
There are two options for you here:
(a) add URDF support for parallel robots and give us a patch we can then integrate. This is going to be a little complicated though.
(b) Abstract your robot in a clever way so you can workaround these limitations. e.g. for motion planning, it seems like you could essentially plan in the space of your end-effector platform and use inverse kinematics to project that down into the joint space of the individual arms that connect the base to the platform. I found a document online that details the IK for a Delta robot - https://docs.google.com/View?id=dfpxhpz9_92hm8h7chc
Once you have a working IK, I/our group can help you more with getting motion planning working on this.
BTW, just looking at some videos online of what this robot can do, it's a very cool robot :-)
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