Abstract: In order to automate the forging process of bearing rings, a three-degree-of-freedom forging manipulator for bearing rings is designed. Firstly, the solid model of bearing ring forging manipulation robot is established in SolidWorks environment, and the linkage coordinate system of the robot is established according to D-H method, then the kinematics equation of the robot is established to solve the kinematics problem. Then, the kinematics simulation of the robot is carried out by ADAMS software, and the motion situation of the robot is varied. Surface analysis and simulation results show that the bearing ring forging manipulator has small fluctuation range of speed and acceleration in all directions, no inflection point in displacement curve and smooth operation, which is suitable for the production of bearing bad automatic forging, and further verifies the feasibility of the robot design. Finally, the dynamic simulation of the robot is carried out. The results can be used to guide the selection of motor parameters for robot driving joints