The kinematics of most machine tools are based on a serial arrangement of joints and segments, like a human arm. Todays requirements regarding dynamics, stiffness and precision brought science and industries to evaluate parallel-kinematic machines (PKM) for machine tool applications. The parallel arrangement of axes possesses a higher potential to fulfill these demands, and therefore allows a next level of machine performance. Whereas the success of PKM in packaging is incontestable, it proves to be less evident in machine tools. Their complexity and the low rotation amplitudes, the main weak...