The　formulation　of　the　inverse　kinematics　and　dynamics　of　a　novel　3-axis　hybrid　machine　tools　is　presented.　This　machine　tools　is　based　on　a　2-DOF　parallel　platform　and　serial　kinematic　chain.　The　position　analysis　is　firstly　performed.　The　velocity　and　acceleration　formulas　of　the　links　and　sliders　are　derived.　The　forces　acting　on　the　joints　can　be　determined　according　to　the　force　and　moment　equilibriums　of　the　links.　Subsequently　the　driving　forces　of　the　actuators　are　derived　from　the　force　equilibrium　of　the　sliders.　The　sensitivities　model　construction　of　inverse　kinematics　and　dynamics　to　the　errors　of　motion　model　parameters　are　developed.　The　presented　approach　can　also　be　applied　to　other　less　DOF　parallel　manipulators.