Posting a follow up to this. Spent the last week redoing all the sub-assemblies to use Rigid groups instead. It seems that just putting in a Rigid group and then deleting the joints didn't quite work out. Trying to do that ended up having all the parts moved all over the place (probably because I had originally inserted them in a different spot away from their target location, and then used the joint to move them into the correct spot -- which, by the way, is how I was doing it when using Alibre).
Anyways, I ended up having to recreate every sub-assembly with rigid groups instead of joints. The performance is faster. At least now I can move the wheel joints in the final robot base assembly, but it's still sluggish, requiring 3-5 seconds for the system to process the move. I couldn't even move the wheel joints before -- it used to take a minute or 2 before it even returned control to my mouse.
My system is i7-4790K (older CPU), 32Gb memory, GeForce GTX 1060 3Gb, SSD hard drive, running Windows 10.
I haven't done any of the thread removal or the 3D text removal yet (which I might end up doing still), but at least I got it to semi-acceptable performance.
One thing I noticed was a really massive slowdown when trying to do point to point positioning of an inserted part because of the time needed to show all the points in the GT 5mm pulley (it seems to take a while and then present all the points on the edges of the teeth on the pulley). Not sure if it's the pulleys that are actually bogging down the system.
Thanks everyone for the tips. Although I was hoping it would be more responsive, at least I can keep working on the project for now.
Paul Tan.