With the rapid development of the marine economy and continuous improvement of the industry, the scale of the offshore engineering is increasing. This raises interest in studying, theoretically and experimentally, gripping and bearing mechanisms for large-scale holding and lifting tools used in foundation pile installations. In this paper, the embedded gripping mechanism is studied based on the theory of elastic-plastic mechanics. The embedded and bearing performance of the tooth is simulated and the influence factors are studied. In addition, the device used in the simplified embedded experiment on the tooth of the embedded block is designed. The relationship between embedded depth, load, and tooth profile angle is identified and validated. Meanwhile, the embedded performance of linear and ring type teeth is compared experimentally in order to select the suitable type of tooth for various situations. This comparison makes the basis for designing an upending gripper for the marine pile foundation, which can realize the operation of holding the pile to prevent its falling.
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