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This paper presents a five degree of freedom(5-DOF)redundantly actuated parallel mechanism(PM)for the parallel ma-chining head of a machine tool.A 5-DOF single kinematic chain is evolved into a secondary kinematic chain based on Lie group theory and a configuration evolution method.The evolutional chain and four 6-DOF kinematic chain SPS(S represents spherical joint and P represents prismatic joint)or UPS(U represents universal joint)can be combined into four classes of 5-DOF redundantly actuated par-allel mechanisms.That SPS-(2UPR)R(R represents revolute joint)redundantly actuated parallel mechanism is selected and is applied to the parallel machining head of the machine tool.All formulas of the 4SPS-(2UPR)R mechanism are deduced.The dynamic model of the mechanism is shown to be correct by Matlab and automatic dynamic analysis of mechanical systems(ADAMS)under no-load condi-tions.The dynamic performance evaluation indexes including energy transmission efficiency and acceleration performance evaluation are analyzed.The results show that the 4SPS-(2UPR)R mechanism can be applied to a parallel machining head and have good dynamic performance.