Abstract: To meet the requirements for end-effector positioning accuracy and motion smoothness in autonomous drilling operations of down-the-hole drills under complex blasting-area conditions in open-pit mines, a five-degree-of-freedom luffing mechanism was studied in terms of kinematic modeling, parameter calibration, and trajectory planning. A three-dimensional digital prototype of the mechanism was established in SolidWorks and imported into Webots to construct a virtual operating environment. The standard D-H parameter method was employed to establish the kinematic model, and the forward and inverse kinematics were derived. The reachable and effective workspaces of the end effector were analyzed using the Monte Carlo method. To compensate for geometric parameter deviations between the theoretical model and the simulation model, a two-stage parameter correction method combining coarse calibration and least-squares fine calibration was proposed. Considering the attitude constraint that the end effector must remain perpendicular to the ground during drilling, a two-stage joint-space trajectory planning method was designed, and quintic polynomial interpolation was used to realize translational positioning and vertical feeding. The calibration results show that the average position error of the end effector is reduced from 73.5 mm to 4.0 mm, and the maximum position error is controlled within 9.5 mm. The simulation results show that, under inverse-kinematics-based driving, the average and maximum position errors of the end effector are 4.55 mm and 8.10 mm, respectively. In addition, the displacement, velocity, and acceleration curves of all joints are continuous without obvious abrupt changes. The proposed method can satisfy the requirements of autonomous drilling operations for positioning accuracy and motion smoothness and provide a reference for control method design and virtual debugging of autonomous drilling systems for open-pit mine drills.