Abstract: In CNC machine tools, the guide rail is the core moving component, and its dynamic performance is directly related to the processing quality, bearing capacity and service life. In this paper, the supporting rail of heavy machine tool was taken as the research object. And a novel rolling-sliding composite guide with a simple structure and convenient debugging have been proposed, which can satisfy the requirements of heavy-duty machine tools for high bearing loads. On the basis of considering the joint surfaces, an equivalent dynamic model was established to identify the dynamic characteristic parameters of this composite guide’s joints.Comparing the measured and fitted frequency response function of the sliding table, the relative error is within 5%. Based on the experimental data, normal loads showed a relatively significant influence on normal dynamic characteristic parameters. Normal joint stiffness and damping were increased by 1.49 times and 13.86 times respectively. The results obtained in this work can provide a valuable reference for the design and research of novel rolling-sliding composite guide applied for heavy-duty machine tools.