Incremental forming is a method for rapid-prototyping and low-volume production. Incremental sheet metal hammering is relatively a new technique in which successive blows of punch on the clamped sheet are used to apply desired shape. In this article an incremental sheet metal hammering system has been designed and developed. The developed mechanism is equipped with a cam shaft including some hard metallic balls as dampers into the central driver core. It can reduce the system vibration to some degree. This research describes the theoretical, simulation and practical background of the designed system. In addition, experiments are accomplished to assess the tool performance. Also, by evaluation of experimental results, the effects of some parameters on the surface quality and maximum forming angle have been studied.