Abstract: For the problems that the strength of forgings at high temperature significantly decreases and the body of forgings is easy to be pinched resulting in difficult for industrial manipulator to grasp during the intelligent hammer die forging process, taking the scraper beam of coal mine scraper conveyor as the research object, the two-finger rotary clamp end effector with long and short fingers was designed to stably grasp the flying edge of high-temperature forgings, and the transmission block with curved grooves was designed to solve the movement dead point problem of end effector. Then, the action process of prying, clamping, flattening, flipping and stacking of end effector was proposed, and the kinematics, dynamics and finite element simulation of end effector were carried out by using ADAMS and ANSYS. The results show that the maximum stroke required for the push rod of end effector cylinder is 14.5 mm, and the maximum force required for the cylinder is 964.3819 N. The equivalent total strains of the transmission module and finger module for end effector are 0.0037994 and 0.00034405 respectively, and the stress values are much lower than the material yield strength, which verifies the rationality of the designed end effector. Thus, the research results provide technical support for liberating workers from the arduous hammer die forging production line by using industrial robotic arms.