Fig. 1 a 3D flowchart of forging-bending repeated deformation process and enlarged view of the bending die structure, b the selection area of EBSD and hardness

Fig. 2 Strain clouds maps for multi-lower temperature of forging-bending repeated process: a 1st pass at 400 °C, b 2nd pass at 350 °C, c 3rd pass at 300 °C, d 4th pass at 250 °C

Fig. 3 Flow rate vectors maps for in the middle step for multi-lower temperature of forging-bending repeated process: a 1st pass at 400 °C, b 2nd pass at 350 °C, c 3rd pass at 300 °C, d 4th pass at 250 °C

Fig. 4 Points-tracking maps of strain and flow rate changes with stroke: a selection of points, b, e 5 points in FD, c, f 3 points at floor in TD, d, g 3 points at transition section in TD

Fig. 5 IPF and twins and grain boundary angle with IGMA maps at different temperatures and passes: a-c 400 °C 1st pass, d-f 350 °C 2nd pass, g-i 300 °C 3rd pass, j-l 250 °C 4th pass

Fig. 6 Twinning behavior of grains (R1-R3) selected in Fig. 5: a-c R1, d-f R2, g-i R3

Fig. 7 DRX regions (R4-R6) selected in Fig. 5: a-c R4, d-f R5, g, h R6

Fig. 8 PF maps and recrystallization PF maps of 1-4 passes at different temperatures: a, b 400 °C 1st pass, c, d 350 °C 2nd pass, e, f 300 °C 3rd pass, g, h 250 °C 4th pass

Fig. 9 Recrystallization maps and IPF maps selected in Fig. 8: a A1, b A2, c A3, d A4

Fig.10 Scattered distributions of SF values for various slip systems (basal < a > slip, prismatic < a > slip, pyramidal < c + a > slip) in 4 passes

Fig. 11 Hardness values of 1-4 passes at different temperatures and initial sample

Fig. 12 KAM maps of 1-4 passes: a 400 °C 1st pass, b 350 °C 2nd pass, c 300 °C 3rd pass, d 250 °C 4th pass, e KAM distribution map