Abstract: Aiming at the problems of selection of motor parameters and mechanism design of the 3-TPS hybrid machine tool, a three-dimensional model of the machine tool is developed by SolidWorks software, then the assembly model is introduced into ADAMS/View to form a virtual prototype simulation model based on multi-body dynamics. The velocity and driving force curves of all driving links are got by simulation to analyze kinematically and dynamically the hybrid machine tool, and the maximum velocity and driving force of all driving links are found by space search. The kinematic/dynamic properties of 3-TPS hybrid machine tool are thus obtained, which provides an important reference to the motor selection and designs for mechanism framework and control system.