A five-degree-of-freedom hybrid robot with rotational supports comprises a two degree-of-freedom wrist and a moving platform with a tail end in series connection to the wrist, and a first length adjustment device, a second length adjustment device, a third length adjustment device and a fourth length adjustment device, wherein further providing a first rotational support and a second rotational support; connecting a first fixed shaft seat to each of two ends of the first rotational support through a revolute hinge respectively; connecting a second fixed shaft seat to each of two ends of the second rotational support through a revolute hinge respectively; one end of the first length adjustment device running through middle portion of the first rotational support, and the other end being fixedly connected to the moving platform; one end of each of the second length adjustment device and the third length adjustment device running through the first rotational support, and the other end being connected to the moving platform through a second hinge and a third hinge respectively; symmetrically arranging the second length adjustment device and the third length adjustment device on two sides of the first length adjustment device; connecting the middle portions of all the first length adjustment device, the second length adjustment device and the third length adjustment device to the first rotational support through revolute hinges respectively; and, one end of the fourth length adjustment device running through the second rotational support and the other end being connected to the moving platform through a fourth hinge, and connecting the middle portion of the fourth length adjustment device to the second rotational support through a revolute hinge; wherein the first rotational support comprises: a central hole, which is located at the middle portion of the rotational support, the first length adjustment device running through said central hole, and said central hole being used for rotatively connecting the first length adjustment device with the first rotational support; a second side hole and a third side hole, which are located on two sides of the central hole, the second length adjustment device and the third length adjustment device running through said second side hole and third side hole respectively, and said second side hole and third side hole being used for rotatively connecting the second length adjustment device and the third length adjustment device with the first rotational support; and two side end holes (122, 121), which are located at two ends of the first rotational support respectively, being used for rotatively connecting the first rotational support with the two first fixed shaft seats, wherein the two side end holes (122, 121) are coaxial and share a longitudinal axis (axis11); axes of the central hole, the second side hole and the third side hole are a first axis (axis 13), a second axis (axis 23) and a third axis (axis 33) respectively, which are parallel to each other; and the first axis (axis 13) is perpendicularly intersected with the longitudinal axis (axis 11); wherein both the second hinge and the third hinge are two-rotation-degree-of-freedom universal hinges, and the corresponding two-rotation-degree-of-freedom rotational axes are non-collinear and intersected at one point.