The static analysis of safety critical software using MALPAS

A transfer for a forging machine is disclosed which is operable to progressively transfer workpieces laterally between spaced die stations on a die breast of the machine. The transfer mechanism includes first and second assemblies, each including transfer arms which are positioned on either side of the die stations closely adjacent to the plane of the die breast. The transfer arms are mounted for arcuate movement about parallel axes to provide opening and closing. Lengthwise movement of the arms is provided for the transfer of a gripped part and for return of the grippers. Each transfer arm carries workpiece grippers having finger end portions operable to grip workpieces at each die station as the transfer arms are translated toward each other. Guides are provided to cause the finger end portions of the workpiece grippers to follow paths substantially parallel to the plane of the die breast. In one illustrated embodiment the assemblies are pivoted on axes which are parallel to the face of the die breast and in another illustrated embodiment the assemblies are pivoted on axes perpendicular to the face of the die breast.