For convenience of workpiece position detection simulation in laboratory, the workpiece pose simulation system based on Yaskawa robot was designed, which included simulation execution, measurement and calibration, and automatic operation. Based on the six-axis body and parallel moving function of Yaskawa industrial robot, the pose simulation of end carried workpiece was realized. The API laser tracker was used to design calibration process, and the accurate tool parameters were obtained to ensure the simulation accuracy. PLC and touch screen were used to design the system control part and man-machine interaction part to realize the automatic simulation of the system according to the setting parameters. The results show that the system can realize the automation work of workpiece pose simulation in laboratory.