Dear Ms. Aylsworth,
Thank you for posting your request on History Hub!
The most direct way to obtain the names of Robert Alicea’s parents would be to obtain his birth certificate and/or death certificate. We suggest you contact the Pennsylvania Department of Health for more information.
We suggest you review the Philadelphia City Archives, the Family Search wiki on Philadelphia County, Pennsylvania Genealogy, as well as NARA’s Resources for Genealogists websites to continue your research. In addition, the document Suggestions and Advice for Family History Researchers may be useful.
We hope this is helpful. Best of luck with your family research!