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Parallel kinematic machines (PKMs) have been attracting attention in research institutes as well as in the machine tool industry because of their structural rigidity due to their closed kinematic loops and their conceptual capabilities in high dimensional accuracy. During performance evaluation of the rst prototypes of parallel machine tools, it turned out that their accuracy has not yet reached industrial application level. Against this background, the accuracy behaviour of a hexapod milling machine, located at the Laboratory for Machine Tools and Production Engineering (WZL) at Aachen University of Technology, and accuracy-related design issues have been extensively studied. Based on these investigations, strategies for kinematic calibration and error compensation have been developed.

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