Generating smooth and continuous machining trajectories through trajectory scheduling helps to improve the machining performance of robots. To meet the practical application requirements in robot machining, this paper develops a simulation system for hybrid machining robot trajectory scheduling. Firstly, a hierarchical system architecture is adopted for software development, achieving a user-friendly human-computer interaction interface and dynamic expansion of simulation system functions. Secondly, the trajectory scheduling and motion simulation tasks are functionally subdivided, and the simulation system functions are modularized. The basic methods of each functional module are introduced subsequently. Finally, taking the machining task of the S-shaped workpiece with the hybrid robot TriMule-800 as an example, the developed software implements trajectory scheduling and motion simulation for this task. Simulation and experimental results validate the feasibility and effectiveness of the proposed method.