The invention discloses a mechanism capable of fast and precisely transmitting linear and rotation composite motion. The mechanism is characterized in that a rotation type servo motor drives a ball screw to allow a nut to move linearly along a guide sleeve with a linear groove, the rotation type servo motor is fixed with the guide sleeve through a fixing rack and arranged in a sleeve shaft, the sleeve shaft is fixed with the guide sleeve, and another rotation type servo motor drives the sleeve shaft to rotate. By controlling the corresponding operation parameters of the two rotation type servo motors, linear and rotation motion is synchronously or alternately performed in a regular manner, and the composite motion can be transmitted fast and precisely.