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There are some problems in the CNC incremental forming with the sheet metal part containing vertical wall, such as excessive thinning and easy fracture. A new CNC incremental forming method was proposed based on the feature recognition for the multidirectional adjustment of the sheet metal posture. According to the feature recognition, the multi-feature of the sheet metal part was decomposed into a number of the forming feature units according to the size and distribution of the forming angles, so that the forming angles of the surface are less than the forming limit angle. The feature recognition and forming feature unit generation algorithm, sheet posture control method, and sheet posture surface generation algorithm were studied, and the finite element analysis and the forming experiments based on the proposed algorithms were also presented. The research results show that the proposed method can change the sheet metal posture in real time during the CNC incremental forming process and realize the non-rupture forming with the large forming angle parts such as vertical wall parts. [ABSTRACT FROM AUTHOR]