3-PRS is a 5-axis milling machine with parallel kinematics. The machine tool has been developed by the Mechanical Laboratory of ITRI in Taiwan. The machine was modelled in LinkageDesigner, while the geometries of the links are drawn in a CAD system. The inverse kinematics is defined to follow the edge of the workpiece. The workpiece is generated simply plotting the 2Sin[x/6 y/6]+3 function over the {-10,10} region.