A new type of 5-DOF drill grinder based on the tripod parallel universal wrist is introduced. Due to the simple mechanical structure comparing the grinder with the existing conventional CNC machine tools, it should be easy for the PKM to manufacture at a low cost. Aiming to solve the problems of selection of driving motor parameters for this series-parallel hybrid drill grinder, the three-dimensional entity model of this machine tool is established by means of UG software, and then the assembly model is introduced into ADAMS/View. The dynamic simulation is conducted and the driving forces of all driving links are found. The dynamic properties of the drill grinder are thus obtained, which provided an important reference to the selection of motor.