Abstract: The cutter-path planning for surface machining using the Tricept type parallel machine tool with a flat-end cutter is studied. At first, the machine tool structure is described in brief, and the inverse kinematics and the pose workspace of the machine tool are analysed. On this basis, the efficient algorithms are presented for the test of cutter interference and the workspace test of cutter pose. By means of the constant scallop-height method of cutter-path generation for surface machining of the conventional 5-axis CNC machinetool, the cutter-path-planning algorithm, which is applicable to the surface machining of the Tricept parallel machine tool, is presented.