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介绍了一个机器人仿真系统的设计过程。该系统由若干主程序和子程序模块组成，能对机器人进行运动学、动力学和轨迹规划仿真分析，并能显示机器人结构简图和运动特性曲线。介绍了该仿真系统的功能、主要结构和所采用的算法，给出了程序框图。
Introduced a robot simulation system design process. The system consists of several main programs and sub-program modules, which can simulate the kinematics, dynamics and trajectory planning of robots, and can display the robot’s structural diagram and kinematic curve. The function, main structure and algorithm of the simulation system are introduced, and the block diagram is given.