The traditional manufacturing equipment is hard to meet the demand of high-speed, high-precision and high-flexible machining, Research and development of high-performance processing equipment is imperative. In order to achieve the goal of high-speed and high-precision machining, a 5-axis hybrid robot for milling operation is proposed. A brief introduction of the robot and its kinematic analysis are presented. To improve the machining accuracy, the principle of parametric curve interpolation and its application in the hybrid robot are studied. Finally, taking the helical milling of holes as an example, the experiment of milling holes on titanium alloy is carried out. Simulation and experimental results show that the parametric curve interpolation method can effectively limit the feedrate fluctuation and improve the machining accuracy. In the end, it is pointed out that the hybrid robot has the characteristics of high-rigidity, high-speed, high-precision and high-flexibility, and it has broad application prospects in the aviation manufacturing industry.