In order to improve the overall performance of the five axis linkage machine tool,a transient dynamic analysis method for repeated collision of the main motion components of a five axis linkage machine tool was proposed to analyze the dynamic characteristics of the main motion components.The kinematics model of five axis linkage machine tool was established,and its kinematics characteristics were analyzed.According to the kinematics characteristics of the machine tool,the repeated collision system of the flexible rod and the dynamic equations of the collision process were established.Finally,based on the wave theory of St.VENANT rods,the transient dynamic characteristics of flexible rods during multiple collisions and separation processes were analyzed.The experimental results show that comparing with other methods,the proposed method can accurately obtain the deformation,displacement,and impact force changes of the flexible rod,and has high analytical accuracy.