In this work, a 5-axis machine tool used for dental restorations is designed. In view of the fact that its special characteristics of the applications, the mechanical structure and main part of the machine tool have been designed and chosen with careful calculation. The machine tool is equipped with a high speed electro-spindle driven by computerized velocity and can rotate at a maximum speed of 60,000 rpm, which driving unite is equipped with servomotor and optical grating for its better motion precision control. Meanwhile, by using the motion controller card, the machine is controlled with a closed-loop numerical control system. Based on the theory of multi-body system, and through analyzing the matrix of the position transformation and the displacement transformation, a model for positioning errors is put forth for error compensation in programming way. The grinding programs enable exact copies of the object to be fabricated. The satisfactory results show this machine tool has excellent performances.