This paper has studied the movement that HCW-90 full hydraulic automatic catwalk drives a drilling rod over the stop pin and entering the V-groove， which involves three dynamic processes： the drilling rod over the stop pin， the drilling rod rolling along the transfer， and the drilling rod stabilizing in the V-groove. The control signal of the action of the hydraulic cylinder that manipulates the transfer mechanism is the main factor that affects the rapidity and stability of tubes’ movement. The synchronization of transfers’ movement determines the spatial attitude and positioning accuracy of tubes’ movement. This paper mainly simulated the dynamic performance of the mechanism transfer mechanism of HCW-90 full hydraulic automatic catwalk with the method of mechanical-hydraulic co-simulation， and studied the specific measures to ensure the stable movement of the drilling rod and improve the rapidity.