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A convenient assembly method for the virtual modular robot is put forward, proposed assembly method does not need the designers to specify explicitly constraint relation of components but rather establish them automatically according to the defined assembly information and the matching algorithm of connectors. The key technology of the assembly method is studied, a hierarchical representation of robot component is proposed to express necessary assembly and simulation information, the 3D picking method of model is realized by introducing a picking ray which takes the viewpoint as a starting point and goes through the clicked point to compensate lack of depth information, as well as the fast matching algorithm based on square area comparison is set up to quickly determine assembly point. Finally, this assembly method is realized with the key technology solved and an application example is given to show its effect.