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Kinematic Modelling of Hybrid Parallel- Serial Five-Axis Machine Tool Milan Milutinović Compared with serial structured machine tools and robots, parallel Lecturer kinematic machine tools and robots have many advantages. Many different Tehnikum Taurunum - High Engineering School of Vocational Studies topologies of parallel mechanisms with 3-6 DOF have been used. Considering that some limitations are indeed due to the use of parallel Nikola Slavković mechanisms, it is appealing to investigate architectures based on hybrid Teaching Assistant arrangements where serial and parallel concepts are combined. This paper University of Belgrade Faculty of Mechanical Engineering is aimed at presenting a study on the kinematic modelling of the Tricept based five-axis vertical machine tool. Since the machine comprises 3-DOF Dragan Milutinović parallel structure and 2-DOF serial wris,t direct and inverse kinematics Full Professor also comprise serial and parallel part. Inverse kinematics is solved University of Belgrade analytically while direct kinematics consists of an analytical and Faculty of Mechanical Engineering numerical part. Based on ma