A　2PRU&1PRS　-　XY　hybrid　robot　was　proposed　for　the　design　requirements　of　robotie　machining　equipment　for　complex　structural　components.　In　order　to　apply　the　new　hybrid　robot　to　high-performance　5-axis　machining,　it　is　necessary　to　realize　the　dimensional　design　that　takes　into　account　the　balanced　optimization　of　multi　kinematics　performance.　Therefore,　in　addition　to　analyzing　the　working　space,　motion/force　transmission　and　dexterity　indicators　of　hybrid　robot,　the　difference　index　of　transfer　stability　and　accuracy　was　also　proposed,　and　a　scale　design　method　based　on　the　idea　of　multi-objective　equilibrium　optimization　was　designed.　This　method　adopted　standardized　method　to　simplify　the　multiparameter　design　space,　applied　response　surface　methodology　to　improve　the　efficiency　of　solving　complex　functional　functions,　and　the　optimization　solution　efficiency　was　improved　by　the　principal　component　analysis　method.　Combined　with　subjective　and　objective　combinatorial　empowerment　method　and　TOPSIS-based　Pareto　frontier　method,　multi-index　comprehensive　performance　scoring　was　carried　out.　Using　the　proposed　method,　four　dimensional　parameter　design　schemes　were　obtained　that　balanced　optimization　efficiency　and　multi-objective　equilibrium　optimization.　The　optimization　design　of　the　main　dimensional　parameters　of　the　hybrid　robot　was　achieved,　providing　designers　with　multi-objective　equilibrium　decision-making　references　with　different　engineering　design　preferences.　©　2024　Chinese　Society　of　Agricultural　Machinery.　All　rights　reserved.