Large-scale forging manipulator is the indispensable equipment in the operations of automated forging. Because of the increasing demand of forging manipulator, large and medium-sized enterprises pay more and more attention to the forging operation in production. Lower freedom parallel mechanism is obtained by using the constraint-synthesis method based on the screw theory, then a mechanism of forging manipulator is designed including raising and lowering, pitching, lateral swing, lateral movement, forth or back and clamp rotation. The new type forging manipulator is a hybrid serial-parallel mechanism. The degree of freedom of the parallel mechanism is calculated by using the modified Grübler-Kutzbach criterion, and then the degree of freedom of the machine is determined. Through closed geometric method, the kinematic position analysis is performed, and the correctness of the theoretical analysis results is verified.

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