In　5-axis　machining,　the　existing　tool’s　axis　vector　optimization　methods　are　limited　since　they　only　consider　the　global　collision　between　the　tool　and　the　workpiece　while　aiming　at　the　ball-nosed　cutter.　A　multi-factor　vector　optimization　method　for　the　face　milling　cutter　shaft　is　proposed　to　solve　this　problem.　This　method　comprehensively　considers　machining　global　collision,　cutting　force,　the　angular　displacement　of　a　rotating　shaft,　and　angular　speed.　An　improved　global　collision　detection　method　of　cutter　axis　vector　based　on　the　NURBS　surface　principle　is　developed,　and　a　global　collision　detection　algorithm　is　employed　to　determine　the　cutter　machining　global　collision.　The　relationship　model　between　the　end-milling　cutter　axis　vector　and　cutting　force　variation　is　established　to　optimize　the　cutting　force.　In　addition,　an　optimization　model　of　angular　displacement　and　velocity　of　the　machine　tool’s　rotating　axis　is　proposed　based　on　Dijkstra　optimal　path　algorithm.　The　CAM　software　simulation　and　experimental　validation　are　conducted　using　a　large　propeller　with　a　complex　surface.　The　tool’s　axis　vector　optimization　algorithm　is　applied　to　the　propeller　results.　Comparing　the　tool’s　axis　vector　optimization　results　to　those　obtained　without　optimization,　it　is　discovered　that　the　surface　workpiece’s　machining　quality　has　significantly　increased.　©　2023,　The　Author(s),　under　exclusive　licence　to　Springer-Verlag　London　Ltd.,　part　of　Springer　Nature.