中文摘要：

以6R机器人为对象，应用基于空间机构学理论建立其运动学方程，在Windows环境下，通过C#对OpenGL动态链接库函数的调用，建立机器人机械本体三维实体模型和实现各构件空间相对运动仿真，进而完成该机器人三维仿真软件设计．该方法具有低硬件要求和高动画仿真效果，且方便快捷，在其他应用场合也具有一定的参考意义．

英文摘要：

With 6R robot as the subject, the equations of kinematics were first established based on the theory of space mechanics, under the Windows environment,the OpenGL dynamic link library functions were called by C # to establish three-dimensional solid model of the robot and to achieve the relative motion space simulation of mechanical components, and then the three-dimensional simulation software design of the robot was completed . This method has low hardware requirements and high animation simulation results. It is convenient, and also has a certain reference value for other practical applications.