Abstract: A novel (2PSR+PUU) &RP hybrid machine tool was proposed to solve the disadvantages of small swing angle and difficulty in machining complex curved parts.Firstly, the screw theory and modified K-G formula were used to analyze, calculate and verify the degree of freedom of the mechanism.The closed-loop vector method was used to analyze the kinematics of the mechanism, and the inverse solution and the positive solution based on the particle swarm optimization algorithm were given to determine the position and pose relationship between the driving block and the moving platform.In SolidWorks, the working space is drawn by static and static method, and the pendulum angle is calculated by ADAMS, which verifies the correctness of the mechanism model and the realizability of the mechanism motion.The results show that the hybrid machine tool has 3T2R five degrees of freedom, has a large working space, and the tool swing angle can reach (0°~90°), through the large swing angle of the tool rotation and five-axis linkage can be applied to the turbine, hydraulic turbine and aero-engine blade and complex surface parts processing.