In recent years, a parallel mechanism with multiple links is expected to be applied to machining because of its higher rigidity, accuracy, and output rather than a series mechanism as industrial robots. However, unlike conventional machine tool which consists of linear and rotary axes, the parallel mechanism has many error factors. In this paper, we devise and evaluate kinematics model of a robot-type machine tool which has parallel mechanism using the shape creation theory. The kinematics model was derived by formulating the constraint conditions of the parallel mechanism of the target device. To evaluate the accuracy of the forward kinematics model, we used the internal functions of the controller to measure the operating state of each axis of the robot machine tool. As a result of comparing the devised forward kinematics model with the target value using the measurement results, we report that the tool tip coordinates can be calculated with high accuracy and its evaluation results.