Abstract: Virtual Reality Technology is frequently applied to robot simulation. To point
against simulation efficiency caused by large amount of computation of kinematic inverse solution
of traditional parallel robot, we use the kinematic parameters of load base to generate
IndexLineSet node dynamically, and then, we can solve the length and orientation of guide bar
based on this node. A kinematic simulation system is devised by using JavaScript and VRML
interactive programming. The simulation results show that the new system is more efficient than
traditional method.

Key words: computer application, virtual reality, parallel robot, simulation, interactive
programming