A parallel kinematic machine, PKM, comprising: a support platform (17a), a first support linkage (SL1); a second support linkage (SL2) and a third support linkage (SL3), wherein the first support linkage (SL1), the second support linkage (SL2) and the third support linkage (SL3) together comprises at least five support links (8, 9, 10, 11, 12, 13). The PKM further comprises: a tool base (140) comprising a shaft joint (24, 40, 41, 200, 202, 262a, 262b), a tool base shaft (19) and a tool platform (17b). The tool base shaft (19) is connected to the support platform (17a) via the shaft joint (24, 40, 41, 200, 202, 262a, 262b), and wherein the tool platform (17b) and the tool base shaft (19) are rigidly connected. The PKM also comprises 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 (140), 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 (19) around at least one axis relative the support platform (17), by transferring a movement of the respective tool linkage (TL1, TL2, TL3) to the tool base shaft (19).