Parallel-kinematic machine with versatile tool orientation

A parallel kinematic machine (PKM), comprising:

• a support platform;
• a first support linkage, comprising one or more first support links, each of the first support links connected at a first end to the support platform via a first support joint, and at a second end connected to a first carriage via a first carriage joint, wherein the first carriage is movable along a first path, and wherein the first support linkage is arranged to transfer a first movement to the support platform;
• a second support linkage, comprising one or more second support links, each of the second support links connected at a first end to the support platform via a second support joint, and at a second end connected to a second carriage via a second carriage joint, wherein the second carriage is movable along a second path, and wherein the second support linkage is arranged to transfer a second movement to the support platform;
• a third support linkage comprising, one or more third support links, each of the third support links connected at a first end to the support platform via a third support joint, and at a second end connected to a third carriage via a third carriage joint;
• 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 comprise at least five support links;
• wherein the PKM further comprises:
• a tool base, comprising a shaft joint and a tool platform, wherein the tool platform is connected to the support platform via the shaft joint;
• and
• one or more tool linkages, each of the tool linkages comprising a tool link connected at a first end, via a tool base joint, to the tool base, and at a second end connected, via a tool carriage joint, to a carriage arranged for movement along a path, wherein at least one of the one or more tool linkages is configured to have a controllable, variable length;
• wherein each of the tool linkages is configured to rotate the tool platform around at least one axis relative to the support platform, by transferring a movement of the respective tool linkage to the tool base platform.