This paper presents a new type of drill grinder based on a special universal joint. The special universal joint is composed of a parallel mechanism with three legs as the inputs. One can rotate as a spindle; other two legs can drive a moving platform and make a drill point get an accurate position in workspace. Due to the simple mechanical structure comparing the grinder with the existing conventional CNC cutting tool grinders, it should be easy for the grinder to manufacture at a low cost. In addition, inverse kinematic equations of the special type of universal joint are derived.