中文摘要：

针对六自由度链式机械臂，为了解决运动学分析结果不易验证以及在实际本体上试验成本较高的问题，开发了一套六自由度机械臂三维仿真软件；该仿真软件是在VC＋＋6．0开发平台上，基于MFC框架类和Open GL的图形库进行开发的，仿真软件有效地验证了机械臂数学模型以及正、逆运动学求解工程的正确性，并且对4种轨迹规划方式的效果做了直观的比较，结果表明开发出来的仿真软件对机械臂的研究与教学起了相应的作用。

英文摘要：

Aiming at 6-DOF manipulator, in order to solve the problem that the result of kinematics analysis is difficult to verify and the cost of the trial is high on the machine entity, a 3D motion simulation software system was developed based on MFC and OpenGL graphic library on VC＋＋6.0 IDE. The simulation soitware system of 6-DOF manipulator shows the validity of the kinematics model, and intuitively compared the four types of trajectory planning methods. The result shows that the soft＇ware system plays an important role in the research and teaching for manipulator.