Abstract. Friction Forge Riveting (FFR) is now being considered as a good alternative for reinforcing multi-material assemblies in industrial applications with the aim of setting up a robotized assembly process. This paper investigates the feasibility of FFR through experiments using a CNC machine and force measurement instrumentation. Different combinations of parameters such as spindle speed and feed per revolution are tested to understand the forming mechanism of a Ti-6Al-4V rivet by friction. The results show that the evolution of forces in response to the load applied to the rivet by the machine is not constant. An oxide layer is observed on the surface of the rivet for a particular combination of parameters.