this thesis is concerned with the design and implementation of a real-time robotics simulator with three-dimensional graphics. the simulator allows for internal or external control o f a number o f robotic manipulators with revolute or prismatic joints. these manipulators may interact with each other and other objects in the simulated environment. all objects in the simulation will have physical properties such as mass and fragility, and can exert forces upon each other. an external program is planned to allow easy construction of models from an assortment of pre-designed pieces. this thesis describes four areas o f the simulation in detail the first o f these is the modelling scheme used to represent objects in the simulation. the second is the actual simulation design. the third is a discussion on the use o f external programs to control the simulation. last is a summary o f the programming environment and how it relates to the simulation.