The hierarchical structure of a pumping unit motion model is established by analyzing its motional rules, its 3D virtual simulation is implemented by using IK and used to the downhole operation simulation system, therefore better result is achieved.

• 建立了抽油机关节运动模型的层次结构，实现了抽油机运动的三维仿真模拟；将其应用到井下作业仿真系统中，取得了良好的效果。