This　paper　aims　to　propose　a　cost-efficient　5-axis　hybrid　machining　robot　for　handicraft　carving.　For　this　purpose,　a　conceptual　design　is　performed　with　a　hierarchical　design　strategy　which　consists　of　a　2UPR&2RPS　parallel　manipulator　(PM)　and　an　orthogonal　sliding　gantry.　Based　on　the　conceptual　design　scheme,　a　kinematic　analysis　is　conducted　to　yield　the　inverse/forward　position　formulations　and　the　predicted　reachable　workspace.　Meanwhile,　an　open-architecture　numerical　control　system　is　developed　for　the　proposed　hybrid　machining　robot,　which　includes　hardware　construction,　post　processing　and　human-machine　interface　(HMI)　development.　Finally,　a　laboratory　prototype　is　fabricated　and　integrated　with　the　developed　control　system　to　construct　a　5-axis　machining　unit.　A　set　of　test　is　performed　on　the　robot　to　verify　its　5-axis　machining　capability.　The　test　results　indicate　that　the　proposed　hybrid　machining　robot　provide　a　promising　solution　for　handicraft　carving.