A method of 3D kinematics simulation of robot fighting platform (RFP) in virtual environment is proposed with the aim of enhancing vision telepresence. Based on the theory of space coordinate transformation, kinematics equations of RFP are formulated; followed by applying a method of modeling using 3DMAX software to build an RFP’s 3D geometric model before a 3D kinematics simulation system of RFP is completed based on virtual reality technology and Open Inventor VC++. Test results have indicated that this system can perform RFP’s kinematics simulation in virtual environment. It can also imitate RFP’s motion states and environmental features well. Moreover, not only can better real-time performances and interactions be achieved but also operator’s vision telepresence be enhanced, therefore this approach may help lay the foundation for the realization of RFP’s teleoperation with vision telepresence.