This paper introduces an interactive robotics modeling and simulation system called iRMSS (Interactive Robotics Modeling and Simulation System). iRMSS is composed of two sub systems. One is the 3D robotics modeling sub-system that facilitates the creation of segment-joint model and physical model for robots. The other is the interactive robotics simulation sub-system based-on Microsoft Robotics Studio that can provide dynamics parameters feedback. So that iRMSS has the advantage of rapid robotics modeling and flexible parameter feedback over the MSRS. An experimental case is showed to verify the system feasibility.