Due to the excitation generated by the periodically alternate pumping of dual-hydraulic cylinders, vibration of concrete pump trucks (CPT) occurs. Excessive boom vibration will seriously affect the service life and operation safety of CPT. At the same time, the long boom structure of a CPT makes it very sensitive to the posture and pumping conditions, which directly affect the vibration characteristics of CPT in different postures and different working conditions. This paper establishes a finite element model of a type of CPT. Through force analysis of concrete in the straight pipe and elbow pipe during the pumping and reversing stages, an excitation model of the conveying pipe is established. Based on the secondary development of HyperWorks, a finite element model of CPT with multiple postures is built, and the dynamic response under multiple conditions is analyzed. Finally, the accuracy of the finite element model of CPT and the excitation model of the conveying pipe is verified by experiment.