说明：  本文介绍了OpenGL的功能及其实现三维动态仿真的原理与过程,并对多自由度机器人机械手的结构进行了简化并建立了其运动学模型。
(This article describes the OpenGL function and principle and process three-dimensional dynamic simulation, and multi-DOF robot manipulator structure has been simplified and the establishment of a kinematic model.)