Hybrid parallel robot of TriCept/TriMule is a 5 degree of freedom hybrid mechanism composed of a parallel mechanism with 3 degrees of freedom and a series of wrist with a 2 degrees of freedom. It has the advantages of large working space, higher stiffness-weight ratio, strong reconstruction ability, and closed loop feedback of end position. It has been widely used in the high speed machining of aircraft structural parts and automobile panel dies, the multi position pressure assembly of the engine cylinder body, and the special processing such as laser and water jet.