erpoint-to-pointpositioningofthetool...EquationsofmotionofthePKMmodulewithrigidlinksUsingcomplex-numberrepresentationofmechanisms[],thekinematicequationsofthetoolunit(indicatedaspartwhichincludestheplatform,thespindleandthetool)aredevelopedasfollows.ThedisplacementofthetoolisandwherebisthedistancebetweenpointBandpointC,risthelengthoflinkAB(thelengthsoflinkAB,CDandCEareequal).Thevelocityofthetoolisertospecifytheparametersrequiredforqualitydrilling.Idealdrillingmotionsandguidelinesforperforminghighqualitydrillingwerepresentedin[]throughtheoreticalandexperimentalstudies.InthesynthesisofthesuggestedPKM,wefollowthesuggestionsin[].ThedetailedmechanicalstructuresoftheproposednewPKMwereintroducedin[,].OnepossibleconfigurationofthemachineisshowninFig.;ithaslargeworkspace,highspeedpoint-to-pointmotionandveryhighdrillingspeed.TheparallelmechanismprovidesY,andZaxesmotions.TheXa