Firstly this paper introduces the flexibility theory of virtual prototyping. Secondly a virtual prototype of rigid-flexible coupling model for beam-carried cranes is built, based on collaborative simulation platform by using the software of UG, ADAMS and ANSYS. Finally the response curves of the displacement for the girder’s centroid with step load and different frequency sine load were analyzed by virtual prototyping simulation. And the corresponding second-order system transfer function is given through the system identification. The result of simulation provided some theory basis for the structure design and optimization of beam-carried cranes.