In the research of robot modeling and simulation, multijoint robot is difficult to model accurately because of its complex structure, so it is difficult for the robot to reflect the actual movement in the process of simulation movement. To improve the simulation fidelity of multijoint robot model in motion simulation,a method to construct a 3D simulation model with robot toolbox and 3D drawing software was put forward.Taken MH24 universal robots Yaskawa as the research object, each joint of the structure and link parameters were modeled and analyzed, in order to solve the forward and inverse kinematics equation of the robot.By using SolidWorks software, 3D model of each joint of robot was established. The 3D simulation model of MH24 robot was built by integrating the 3D model of each joint and the D-H parameter model through the robot toolbox.The dynamic simulation drive of each link of the robot and the trajectory planning simulation analysis of the endeffector were completed.The accuracy of 3D modeling was verified by the forward kinematics equation and the pose matrix value of the robot endeffector.