In this paper, we study the boom of truck-mounted concrete pump from a company. After analyzing, we determine that the four booms extending horizontally is the most dangerous working conditions. We use the software Solid Works to design three-dimensional entity. With the help of Cosmos Motion which is a part of Solid Works, realizing the kinematic simulation. This paper study and analyze the problems during the simulation process, and collect a series of curves of kinematic simulation, mainly including the place-time curve, velocity-time curve and force-time curve, and analyze these curves detailedly.