Technological changes have made historic moves in the industry trajectory towards industry 4.0. Simulation of the work environment is one of the effective tools in an automated robotic site. It contributes to a better work environment’s awareness toward the machines’ and robots’ behavior, enhancement of the monitoring and troubleshooting of processes, and selection of the optimum adaptable design for the system. This book chapter mainly focuses on proposing an innovative interactive VR-based simulation model for automated robotics sites. Consolidating all features of an effective VR tool, a system design simulation software (SIMIO) and a robot programming simulation software (Epson RC+) results in an effective VR-based simulation for the entire manufacturing system. Such a proposed model, interacts with workforce and decision makers effectively. Decision makers will be able to test and evaluate various design scenarios and potential states in the whole response space. In this way, the optimum alternative, which optimizes the performance measures’ values, will be captured in a timely manner. Such a model, proactively recognizes the potential collisions via simulation. Utilizing such a tool will improve the scheduling process, reduce down-time and delays, enhance the system productivity and reliability, and detect maintenance time of robots and machines in a faster way, which are among the main goals of systems’ automation.