Abstract: Based on the kinematic chain map topological gallery, a new-type of six-DOF forging manipulator that has front and rear lifting drivers is proposed. The device can not only improve the synchronicity lifting of the clamp,but also adapt to the working condition better. A dynamics math model of the major-motion mechanism was established based on the principle of virtual work,combined with the dynamic model of the hydraulic cylinder to determine the driving force of hydraulic drive unit during the movement of manipulator clamp. On this basis,fuzzy PID controllers were designed to control the hydraulic drive units to realize the trajectory tracking of the manipulator clamp. In the process,the control system model was established in the Matlab/Simulink. Under the condition of a given load,the Matlab/Simulink software was used to do manipulator dynamics simulation about the clamp vertical lifting movement,horizontal motion and pitch motion,eventually getting the system unit step response,sine tracking response curve and error curve.Resultsshow that the fuzzy PID controller can quickly andaccurately obtain the parameters of the new forging manipulator's performance and complete tracking efficiently,allowing the system to maintain a good steady-state performance and dynamic performance.