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Int J Adv Manuf Technol (2009) 42:813–821 DOI 10.1007/s00170-008-1643-x ORIGINAL ARTICLE Functional simulator of 3-axis parallel kinematic milling machine Milos Glavonjic Dragan Milutinovic Sasa Zivanovic Received: 12 July 2007 /Accepted: 27 June 2008 /Published online: 24 July 2008 # Springer-Verlag London Limited 2008 Abstract Parallel kinematic machines (PKM) are research- published [ 1]. Many different topologies of parallel and-development topic in many laboratories although many mechanisms with 3 to 6 dof, including a 3-dof tra