This paper proposes a novel three degrees of freedom parallel machine tool. The parallel machine tool consists of three serial chains and a fixed base and a moving platform which can be moved in a pose space corresponding to the three degrees of freedom. By using matrix methods, a error model of the parallel machine was developed. The explicit solution of the error of joint and the stroke error of telescopic link were solved for analysis of influence factors of error on the position of moving platform. It provided a theoretical foundation for error compensation of parallel machine tool.