The advantages of the offline programming and simulation system were introduced, as compared with traditional teaching programming by demonstration. An offline programming and simulation system of robot based on OpenGL and QT was established, in which three dimentional (3D) models, as well as kinematics simulation of a robotic manipulator and workpieces were built and implemented. Every modules of the offline programming and simulation system were developed and designed, including robotic programming language module (programming language and its translator), motion planning module, robotic motion simulation module and model administration and assistant 〖JP4〗module, and etc. In the end, an application case was provided of the simulation system about the transportation and handing process of the robot.