In order to realize the compensation of large-scale pose disturbance and the isolation of medium high frequency vibration, a configuration of multi-dimensional orientation adjustment and vibration isolation platform was proposed. The mechanism consisted of three branches, each of which contained a closed-loop chain composed of active orientation adjustment and passive vibration isolation unit. Referring to the screw algebra and the influence coefficient theory, the kinematics model of the mechanism was established, and the first and second order influence coefficient of the mobile platform, the open-chain branch and the electric cylinder branch on the generalized coordinates were obtained. A dynamic model of active-passive separation form of the mechanism was established. On this basis, the modal of the mechanism was analyzed. The modal experiment of the principle prototype was carried out by pulse excitation. The experimental results showed that the measured natural frequency was close to the theoretical calculation value, which verified the correctness of the theoretical model. The experimental results of response characteristics showed that the principle prototype can compensate the pose disturbance in the low frequency. Combined with the passive vibration isolation in the medium high frequency, the principle prototype had the ability to adjust the orientation and isolate the vibration in a wide frequency band.