Though computer technology has brought about virtual manufacturing to expedite design and analysis through simulation and visualization, machines remain essential, as ultimately products need to be made. This paper presents a new type of 5-axis parallel machine tool based on a 3 degrees of freedom parallel platform manipulator with base mounted prismatic actuators. This machine tool is different from the Stewart platform type parallel machine tool in that its feed motion in X-direction is realized by the worktable on which work-piece is fixed and the parallel manipulator sliding on the gantry structure of the machine tool is responsible for the translation along Y-direction instead of the movable platform of the manipulator. Due to this special architecture, the workspace in X-direction and Y-direction of the new machine tool is enlarged greatly. And its rigidity is higher because of the adaptation of gantry structure. This machine tool is controlled by a PC based NC system in simultaneous 5 axes control mode.