A novel parallel machine tool(PMT) with 3-HSS structure is presented in this paper. The three ball screws and guiding-parallels of this PMT are horizontally and parallel set. The three helix joints are driving components connected to and driven by servos, and the corresponding parameters of the cutter position can be obtained. The kinematics modeling is simple and the direct and inverse kinematics can be easily obtained for this PMT. It also has other advantages, such as spacious workspace in horizon direction, simple structure, easy controlling, etc. This PMT can be used in three-dimensional carving, milling and other machining processing. This kind of PMT has been designed and manufactured in our institution, and has also been tested successfully. Besides, it’s easy to get the 5-DOF series-parallel machine tool through fixing two more revolving structure on the mobile platform. It’s also easy to furnish complex surface processing using a rotary table. This paper studies mainly on DOF analysis, derivation of the kinematical equation, direct and inverse kinematics, workspace and other kinematical problems of the parallel machine.