本文建立了一个机器人运动学计算机辅助设计与仿真系统，与同类型的其它系统比较，本文侧重于运动学设计与评价，它包括工作空间、姿态空间、奇异曲面、服务区域、灵活度、运动学综合与仿真等，提出了建立机器人数据库、奇异曲面计算机自动求解以及机器人运动学性能综合评价的新方法，然后介绍了系统中的一些主要模块。 This paper establishes a robot kinematics computer aided design and simulation system, compared with other systems of the same type, this article focuses on the kinematics design and evaluation, which includes work space, attitude space, singular surface, service area, flexibility, kinematics Synthesis and simulation, a new method of establishing robot database, automatic solution of singular curved surface computer and comprehensive evaluation of robot kinematics performance is proposed. Then, some main modules of the system are introduced.