Abstract: To address the dependence on experience and imitation as well as the lack of quantitative design methods in the kinematic scheme design of CNC machine tools, a forward design method for five-axis machine tool kinematic schemes driven by complex workpiece machining trajectories is proposed. An equivalent transformation model for rotary axis configurations is established, by which the topological variations of different rotary axis combinations are mapped into continuous equivalent changes of workpiece clamping orientations. With complex part machining tool paths taken as the design input, a hierarchical evaluation system for motion characteristics is constructed at the rotary-axis and translational-axis levels, covering motion smoothness, condition number, and nonlinear errors. The method is validated using a large propeller blade machining tool path. The results indicate that the global design preference index of the AB-type double-swivel-head configuration is significantly higher than those of the CA/CB-type and BA-type; the global composite index of the double-swivel-head configuration is 37.5% lower than that for the dual-rotary-table type, with optimal global consistency. The software module for forward design of kinematic schemes is developed, enabling a transition from experience-dependent qualitative design to scientific quantitative design, and providing methodological and tool support for machine tool kinematic schemes.