In the first case (horizontal spindle), the machine usually has a planer-type reciprocating table on which the workpiece is held.

However, grinding machines with vertical spindles can have either a planer type table like that of the horizontal-spindle machine or a rotating worktable.

To improve the machining ability of planers, the paper proposes a new type planer, which adopts a parallel mechanism with consideration of the characteristics of parallel kinematics.