Abstract: The theory and methods of object-oriented (OO) CAD modeling and graphical simulation for robot system based on microcomputer are researched, the 00 decomposition and disposition principle of hierarchical model is proposed, and the hierarchical tree structure of geometrical model (HTSGM), which represents robot system as four different tree structures orderly; part tree at lowest level-component tree-device tree-robot system tree at highest level; is presented, primitive bodies are the smallest cells of the whole model. Finally, the algorithms of rapid hidden line/face removal and real time collision detection based on the HTSGM are implemented on the microcomputer.

Key words: CAD modeling, Graphical simulation, Object-oriented, Robot system