TriMule hybrid parallel robot iscomposed of a 3 DOF parallel mechanism and a 2 DOF wrist consisting of 5 DOFhybrid robot has a large workspace, stiffness weight ratio, reconfigurableability, and can achieve full closed-loop control and other advantages, can beapplied to the structure of the high speed air milling, helical millingprocessing, can also be used for mold processing, grinding and polishingprocess of automobile panel.