To address the difficulty of directly detecting internal stresses in high-temperature forgings during dual-manipulator control experiments and the significant safety risks associated with high-temperature environments, this study developed an experimental device to simulate the deformation behavior of such forgings. First, numerical simulations of the elongation process were conducted using DEFORM V11 software to examine the deformation mechanisms of high-temperature forgings. Quantitative results for axial deformation, maximum deformation velocity, and deformation force ranges were obtained, which defined the operational specifications and functional requirements of the device. Second, the mechanical structure and hydraulic system were designed based on engineering principles. The dynamic response characteristics of the simulation device under conventional PID and fuzzy PID control were compared through simulations, and the feasibility of the fuzzy PID control strategy was experimentally verified. Finally, a joint simulation model of the high-temperature forging deformation simulation device and the dual forging manipulator clamping system was established. This model was used to analyze the dynamic response of the simulated workpiece under typical cooperative conditions of dual manipulators and to assess the accuracy of the simulation process during clamping. The results confirmed the practical applicability of the device. Overall, the developed simulation device can effectively reproduce the deformation behavior of high-temperature forgings under ambient conditions, providing a safe and reliable platform for studying coordinated control strategies of dual forging manipulators.