The rotation axis equation of the simple articulator is built by the cylinder feature identification, which facilitates the rotation transform of the lower jaw data. Then the collision points and areas on the position of centric occlusion are found to form two collision couples. The virtual orientation of the lower and upper jaws model is realized by collision detection of the collision couples. Consequently the occlusal relation between the lower and upper jaws is established. It sets a good basis for the virtual adjustment of edentulous occlusal surface. The jaw movement of opening and closing in the state of hinge axis is also simulated accordingly.