With the development of the shipbuilding, chemical engineering, and military industry, the demand for bending the metal plates with large curvature is increasing dramatically. Take the shipbuilding as an example, the line heating method is widely applied. However, this traditional method has significant disadvantages. In order to improve the manufacturing efficiency and precision, a novel method called incremental bending has been presented by our team, which is based on the minimum energy principle and model-less control method. However, due to the limited formability of the metal plates at room temperature, the bending curvature of the plates during the incremental bending process cannot meet the requirements of the shipbuilding industry. Researches show that heating can reduce springback and improve the metal formability effectively. So here in this paper, a new method called heat-assisted incremental bending is presented. In this method, the metal plate is supported by several supporting pillars and the punch moves according to the loading trajectory, which is calculated by minimum energy method. In addition, the induction heating system is applied to heat the plates at the punching positions. The bending process continues step by step until the metal plate achieves the designed shape finally. During this study, the springback behavior of the metal plates during the heat-assisted incremental bending process was investigated based on theory, numerical simulation, and experiment. Then, the metal plates with large single curvature and variable curvature were deformed based on the novel thermal-mechanical coupled metal forming process. The experimental results show this new forming process can better control the springback behavior of the metal plates and achieve the objective metal plates with lager curvature with higher processing efficiency and accuracy.