Aimed at the large rotary inertia, waste of energy and high cost of physical prototype test of traditional axial piston hydraulic motor, a design scheme of cylindrical cam hydraulic motor was proposed, and a virtual prototype simulation test was carried out. The 3D dynamic model and the 1D hydraulic system model of the cylindrical cam hydraulic motor were built by using RecurDyn and AMESim respectively; the rigidflexible coupling dynamic model of the cylindrical cam motor was established by importing the finite element flexible body of the shaft generated by HyperMesh; the interfacing technology between RecurDyn and AMESim was used to share the key parameter information between the dynamic model and the hydraulic model in real time to realize the virtual prototype simulation test. Through simulation analysis, the dynamic stressstrain curve of the cylinder cam hydraulic motor shaft was obtained, and the working principle and relevant characteristics of the cylinder cam motor were verified. It provides reference for the characteristic analysis, structural optimization, trial production and application of the cylindrical cam hydraulic motor