For ultra-high pressure water jet technique in the fractured and removal of concrete application has not yet mature, according to the super high pressure water jet forcible entry robot prototype, use multidisciplinary integrated modeling and simulation software AMESim to simulate hydraulic system of the prototype. Use the virtual prototype technology to build a 3D model, AMESim software is used to simulate the mechanical arm frame drive system of the robot and obtain the important parameters. Results show that the method could provide reference for test of total hydraulic system and transmission system or the later period optimization, and play important role in improving the structural parameters of the forcible entry robot or the work efficiency.