A novel five-degree of freedom fully parallel machine tool consisting of five actuating limbs and one passive constraint limb which can realized three-dimension and two-dimension move is proposed．The overall layout，parameterized solid modeling design of the structural component and their assembly process are studied．The designed parameterized solid model for the virtual prototype has reasonable structure and vivid shape and can be used directly for engineering analysis and design optimization，which provides effective means for manufacturing actual machine tool．