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A novel 5-degree-of-freedom (5-DOF) hybrid serial-parallel manipulator was proposed, the 2RPU/UPR parallel mechanism (PM) was the parallel part of this manipulator;and it was a kind of parallel mechanism with two continuous rotational axes, which had one translational DOF and two rotational DOFs (2R1T). The kinematics of this manipulator with high degree of modularity was quite simple, which made it easy to implement trajectory planning, parameter calibration and motion control. Firstly, to establish the inverse dynamic model of this 5-DOF hybrid manipulator, the 3×3 velocity Jacobian square matrix, between the moving platform and the independence movement parameters, was obtained. Secondly, the centroid velocity mapping matrix from the moving platform to each limb was established. Especially, the kinematics models of the UPR and RPU limbs were gotten. And the dynamic model of the 2RPU/UPR PM was obtained by use of the virtual work principle. Thirdly, the force analysis of the tilting head with single DOF was finished by means of D’ Alembert principle. Then, the inverse dynamic model of the 5-DOF hybrid manipulator was solved by combining the virtual work principle and the D’ Alembert principle. At last, the dynamic numerical simulations were performed through Matlab software and ADAMS software, the results showed that the dynamic model of this 5-DOF hybrid manipulator was correct, which provided a new idea for establishing the dynamic model of this type hybrid manipulator.