| The development of the issue related to parallel machine tool at home and abroad is introduced in this thesis, some problems such as kinematics, statics, singularity and several answers of forward kinematics in workspace, modeling and simulation of dynamics etc. of a novel 5-DOF parallel NC machine tool are analyzed thoroughly and systemically. In order to describe the few DOF machine tool conveniently, transform relation between 6 dimensions in Cartesian coordinate system and 5 dimensions parameter in generalized coordinate system is set up in the thesis, and the machine tool DOF's detail meaning on kinematics, statics etc. is made out. By the genetic algorithm, transfer matrixes of velocity and force within workspace are further studied, and the workspace range where there is no singularity and the maximum and minimum value of condition number of transfer matrixes of velocity and force in corresponding workspace is gained. Based on the concept from the genetic algorithm, the forward kinematics in workspace is analyzed by numerical value method. What's more, it is proved that the forward kinematics is unique in workspace after lots of examples. The model of dynamics is set up by Lagrange method in this thesis, then the inverse dynamics of the PMT is analyzed through some typical motions. In order to ensure validity of dynamics analysis, the entity modeling and simulation are carried out by ADAMS software, and the simulative results and theoretic results are compared. At the same time, the curve of inertia force and inverse restriction force(moment) of some typical motions are drawn by ADAMS, which makes the analysis of dynamics further perfect.
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