Hybrid serial-parallel kinematic machine tool (HSPKMT) has been regarded as a promising solution for 5-axis machining in many industrial fields. A typical HSPKMT can be constructed by integrating a parallel functional module with a serial functional module. Following this way, the authors construct a novel 5-axis HSPKMT through the integration of an over constrained redundantly actuated parallel module with a stack-up serial gantry. The proposed HSPKMT can accomplish a 5-axis motion capacity with three translations and two rotations (3T2R). A hierarchical design method is proposed to facilitate the design issues of the 5-axis HSPKMT. According to the hierarchical method, a laboratory prototype is designed with a top-down strategy and then fabricated with a bottom-up strategy. An open-architecture computer numerical control (CNC) system is developed to drive the fabricated prototype. A kinematic analysis is carried out to reveal necessary kinematic properties of the proposed HSPKMT. The reachable workspace and task workspace are defined to graphically illustrate the machine's position-orientation capabilities. A workspace performance index is formulated to compare the proposed 5-axis HSPKMT with several 5-axis machine tools. Based the kinematic analysis, a 5-axis machining methodology is developed and further applied to the laboratory prototype to perform 5-axis machining tasks. The machining tests verify that the proposed novel HSPKMT possesses desirable 5-axis machining capability with the tolerance rang of ±0.05 mm. This also implies that the proposed hierarchical design method as well as the 5-axis machining methodology can be further applied to other types of HSPKMTs with minor modifications.

混合串并联运动机床（HSPKMT）被认为是许多工业领域中5轴加工的有前途的解决方案。通过将并行功能模块与串行功能模块集成在一起，可以构建典型的HSPKMT。按照这种方式，作者通过将过度约束的冗余驱动并行模块与堆叠式串行机架集成在一起，构造了新颖的5轴HSPKMT。提出的HSPKMT可以通过三个平移和两个旋转（3T2R）实现5轴运动能力。提出了一种分层设计方法来促进5轴HSPKMT的设计问题。根据分层方法，使用自上而下的策略设计实验室原型，然后使用自下而上的策略进行制造。开发了一种开放式结构的计算机数控（CNC）系统，以驱动所制造的原型。运动学分析显示了拟议的HSPKMT的必要运动学特性。定义了可到达的工作区和任务工作区，以图形方式说明了机器的位置定向功能。制定了工作空间性能指标，以将建议的5轴HSPKMT与几种5轴机床进行比较。基于运动学分析，开发了一种五轴加工方法，并将其进一步应用于实验室原型以执行五轴加工任务。机加工测试证明，提出的新型HSPKMT具有令人满意的5轴机加工能力，公差范围为±0.05 mm。