A 3-degree-of-freedom (3-DOF) parallel machine tool based on a tripod mechanism is developed and studied. The kinematics analysis is performed, the workspace is derived, and an analysis on the number of conditions of the Jacobian matrix and manipulability is carried out. A method for error analysis and manipulability is introduced. Hence, the manipulability analysis of the parallel machine tool is accomplished. A 3-degree-of-freedom (3-DOF) parallel machine tool based on a tripod mechanism is developed and studied. The kinematics analysis performed, the workspace is derived, and an analysis on the number of conditions of the Jacobian matrix and A method for error analysis and manipulability is introduced. Hence, the manipulability analysis of the parallel machine tool is accomplished.