An over-constrained few-joint five-degree-of-freedom hybrid robot includes a fixed platform (11), vertical frames (10), a single-rotation-pair rotating frame (8), a double-rotation-pair rotating frame (6), a movable platform (3), a working platform (1), three branch chains (4, 5 and 9) of the same structure and a two-degree-of-freedom posture adjustment head (2). The working platform (1) is disposed in front of the fixed platform (11), and the vertical frames (10) are symmetrically disposed on two sides of the fixed platform (11). The three branch chains (4, 5 and 9) are disposed between two vertical frames (10) and the movable platform (3), and the two-degree-of-freedom posture adjustment head (2) is disposed at the lower end of the movable platform (3). A two-rotating and one-translating three-degree-of-freedom parallel mechanism is formed by the vertical frames (10), the movable platform (3) and the three branch chains (4, 5 and 9). The over-constrained few-joint five-degree-of-freedom hybrid robot is simple in structure, high in integral rigidity, low in control difficulty, simple in kinematics analysis and quick in dynamic response. By means of combination of a two-degree-of-freedom posture adjustment head and the movable platform (3), the working space of a machine tool is enlarged, the dexterousness of the machine tool is improved, and error accumulation caused by a component machining error and an assembly error is effectively avoided.
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