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