The invention belongs to the manufacturing field of a numerical control device and relates to a multiaxial linkage series-parallel, which comprises a bed body, a moving platform, a joint type swinging head on which a spindle is arranged, three branched chains and a worktable on which a cut workpiece is arranged; wherein, a prismatic pair connection is achieved between the bed body and the worktable, the joint type swinging head on which the spindle is arranged is fixedly connected with the moving platform, the three branched chains are respectively connected between the bed body and the moving platform so as to form a spatial parallel closed-chain mechanism with the bed body and the moving platform and the spatial parallel closed-chain mechanism is used for realizing a freedom of two-dimensional movement, the worktable is used for realizing a freedom of one to two dimension, the joint type swinging head is used for realizing a freedom of zero to two dimension, and the compound motion of the worktable, the spatial parallel closed-chain mechanism and the joint type swinging head can realize at least a triaxial linkage control. The device has simple structure, reasonable layout, high stiffness, easy control, large work space and high machining accuracy, and can work with being placed vertically or horizontally, thus satisfying the requirements for multiaxial linkage numerical control machining of parts with complex curved surfaces.