摘要：Force closure and stability problems exist in heavy gripping *** on a typical gripping device for forging operations, the workpiece and the gripping device are innovatively considered as a single mechanism in this paper,and its global topological configuration is *** changing element method is used to establish the optimized topology geometry of the gripping device by decreasing the degrees of freedom of the gripping mechanism and improving the force closure performance. Therefore,a new idea for the innovative design of heavy-duty forging gripping devices is *** the effect of revolute joint friction on loading capacity of the gripping device cannot be ignored,a unified mechanical equation including friction in terms of the topological adjacency matrix is established to analyze the force closure performance and calculate the loading *** conclusions are provided by experiments.