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It is an effective way to improve the tracking accuracy of antenna by studying the static and kinematic characteristics of antenna mechanism. Firstly, the structure of the hybrid antenna mechanism was described. Secondly, the force analysis of each component of the hybrid antenna mechanism was given based on the wrench transformation relationship. The static solution of the hybrid antenna mechanism was carried out based on the numerical calculation software. The actuation forces distribution of the hybrid antenna mechanism with special positioning attitude were studied. The theoretical solution results were compared with the software simulation results to verify the correctness of the theoretical analysis. Thirdly, the finite element software was used to study the deformation of the hybrid antenna mechanism under special positioning attitude, and the overall deformation of the hybrid antenna mechanism was evaluated. The vibration characteristics of the hybrid antenna mechanism were simulated. Meanwhile, the vibration mode and natural frequency of the hybrid antenna mechanism under special positioning attitude were obtained. The motion simulation of hybrid antenna mechanism was carried out based on the numerical calculation software, and the motion envelope space of pitch and azimuth motion trajectory of the hybrid antenna mechanism was studied. Finally, the structure design of the key components of the hybrid antenna mechanism was carried out, and the physical prototype of the hybrid antenna mechanism was developed based on the key parts model. The research result can provide a reference for the design and development of antenna mechanism.