Abstract: Based on the working principle of a forging manipulator, a 3-D model of the simplified forging manipulator was developed with the software Solidworks, which was then introduced into the MSC.ADAMS software system to set up a 3-D digital prototype. Considering the effects of dead weight and loading on the manipulator, some constraints and loads were applied to all the components of the forging manipulator model. Thus, a visual 3-D dynamic simulation of multi-rigid-body system was done to analyze the loading conditions for the hydraulic cylinders and jaw of the forging manipulator during typical operation, as well as the limit loading conditions. Besides, the simulated results provided the reasonable reference for the design of components of a forging manipulator.