A parallel kinematic machine, PKM, comprising: a support platform, a first support linkage comprising one or more support links (8, 9) each connected at one end to the support platform via a first support joint (8a, 9a), and at the other end connected to a first carriage via a first carriage joint (8b, 9b), wherein the first carriage is movable along a first path, and the first support linkage is arranged to transfer a first movement to the support platform; a second support linkage comprising one or more support links (10, 11; 10) each connected at one end to the support platform via a second support joint (10a, 11a), and at the other end connected to a second carriage via a second carriage joint (10b, 11b), wherein the second carriage is movable along a second path, and the second support linkage is arranged to transfer a second movement to the support platform; a third support linkage comprising one or more support links (12, 13; 11, 12, 13) each connected at one end to the support platform via a third support joint (11a, 12a, 13a), and at the other end connected to a third carriage via a third carriage joint (11b, 12b, 13b); wherein the third carriage is movable along a third path, and the third support linkage is arranged to transfer a third movement to the support platform; and wherein the first support linkage, the second support linkage and the third support linkage together comprises at least five support links (8, 9, 10, 11, 12, 13); wherein the PKM further comprises: a tool base comprising a shaft joint (24, 40, 41, 200, 202, 262a, 262b), a tool base shaft and a tool platform, wherein the tool base shaft is connected to the support platform via the shaft joint (24, 40, 41, 200, 202, 262a, 262b), and wherein the tool platform and the tool base shaft are rigidly connected to each other; and one or more tool linkages (TL1, TL2, TL3) each comprising a tool link (26, 31; 29, 32; 38) connected at one end via a tool base joint (25, 28, 37) to the tool base, and at the other end connected via a tool carriage joint (27, 30, 39) to a carriage arranged for movement along a path; and wherein each tool linkage (TL1, TL2, TL3) is configured to rotate the tool base shaft around at least one axis relative to the support platform, by transferring a movement of the respective tool linkage (TL1, TL2, TL3) to the tool base shaft. a support platform, a first support linkage comprising one or more support links (8, 9) each connected at one end to the support platform via a first support joint (8a, 9a), and at the other end connected to a first carriage via a first carriage joint (8b, 9b), wherein the first carriage is movable along a first path, and the first support linkage is arranged to transfer a first movement to the support platform; a second support linkage comprising one or more support links (10, 11; 10) each connected at one end to the support platform via a second support joint (10a, 11a), and at the other end connected to a second carriage via a second carriage joint (10b, 11b), wherein the second carriage is movable along a second path, and the second support linkage is arranged to transfer a second movement to the support platform; a third support linkage comprising one or more support links (12, 13; 11, 12, 13) each connected at one end to the support platform via a third support joint (11a, 12a, 13a), and at the other end connected to a third carriage via a third carriage joint (11b, 12b, 13b); wherein the third carriage is movable along a third path, and the third support linkage is arranged to transfer a third movement to the support platform; and wherein the first support linkage, the second support linkage and the third support linkage together comprises at least five support links (8, 9, 10, 11, 12, 13); wherein the PKM further comprises: a tool base comprising a shaft joint (24, 40, 41, 200, 202, 262a, 262b), a tool base shaft and a tool platform, wherein the tool base shaft is connected to the support platform via the shaft joint (24, 40, 41, 200, 202, 262a, 262b), and wherein the tool platform and the tool base shaft are rigidly connected to each other; and one or more tool linkages (TL1, TL2, TL3) each comprising a tool link (26, 31; 29, 32; 38) connected at one end via a tool base joint (25, 28, 37) to the tool base, and at the other end connected via a tool carriage joint (27, 30, 39) to a carriage arranged for movement along a path; and wherein each tool linkage (TL1, TL2, TL3) is configured to rotate the tool base shaft around at least one axis relative to the support platform, by transferring a movement of the respective tool linkage (TL1, TL2, TL3) to the tool base shaft.