Kinematic modeling and machining precision analysis of multi-axis CNC machine tools based on screw theory

•Constructing the MBS model of a multi-axis CNC machine tool based on FMA method.•Establishing pose transformation matrix of motion shaft in twist exponential form.•The POE model of machining system is established based on the screw theory.•Proposing the error evaluating indicators based on meta-action layer.•We deduce the general mathematical expression of machining allowance error.