A new type of five degree of freedom hybrid robot (5-DOF) was designed to address the stability issue of aerospace drilling that could not be met by existing parallel robots. The robot integrates the advantages of parallel mechanisms and existing rotary heads, consisting of three Special Purpose Unit (SPU) branches and one Passive Unit (PU) branch, with a unique mechanism layout and stable structural support. Through kinematic analysis of the parallel mechanism and 5-DOF (5-Degrees of Freedom) rotor, as well as position inverse analysis of the hybrid robot, the superiority of the robot in terms of motion performance is verified, providing useful reference for improving robot performance.