Kismet , it sounds like youve been very very clear about this yet hes activeley choosing to ignore your feelings about it . How often does his groping result in him getting the sex he says he wants ? I ask because i beleive that people do what works , and dont do what doesnt . If he actually wanted sex he would change tactic because this obviously isnt working .
What is working though , is that your getting upset about it , your suffering because your tired , and the constant message your receiving is that your feelings dont matter . Some men use groping and pestering for sex as a way to bully and assert their rights over their wife , others do it knowing they wont get sex so they can justify an affair . Either way , its nasty , and you shouldnt have to put up with this in your own home .
Sgb mentioned the possibility of this behaviour escalating , something you seem quite confident wont happen . But unless hes done this from day one when you were dating , it has escalated . Somewhere along the line hes given himself position to sexually molest you and to ignore your feelings about this . Sadly having been in your position , and read many posts from other women in your position , i am inclined to agree with sgb that it will escalate , slowly but sureley .
Never mind whether the other beds not comfortable or not , from his point of veiw the fact that you are complaining but not actually doing anything is an invitation for him to continue .