<p>Vibration significantly affects the precision and stability of the parallel kinematic manipulator (PKM) system, particularly under heavy load (200 kN) and high-speed (4 r/s) conditions. In the multi-DOF forming process, the developed 3-RSS/S PKM exhibits noticeable posture vibration. Traditional vibration suppression methods typically focus on either high-frequency vibration due to high-speed or low-frequency vibration from heavy load, which is unsuitable for cases involving both. This paper proposes a novel active force/damping coordinate vibration suppression method. To suppress low-frequency vibration, system stiffness is enhanced using an active force controller, while high-frequency vibration is mitigated by increasing damping through an active damping controller. First, an elastic dynamics model of 3-RSS/S PKM, incorporating link elasticity and hydraulic damping, is developed. Then, the generation mechanism of low-frequency and high-frequency vibration is revealed, that is, the low-frequency vibration is attributed to insufficient link stiffness, and high-frequency vibration results from inadequate damping. Thirdly, through the reduction of force fluctuations and the increase of the damping, an active vibration suppression method is proposed. Subsequently, an active force/damping coordinate control method is implemented, in which three PI force loops are adopted to realize force tracking and three PI damping loops are adopted to realize damping tracking. Eventually, a multi-DOF forming experiment of bevel gear is conducted, showing 49.5% reduction in low-frequency vibration and 83.8% reduction in high-frequency vibration with the proposed method.</p> Graphical abstract <p></p>