Taking the three translational degree of freedom and asymmetrical (3-2SPS) parallel machine tool with a redundant drive as a research object, the kinematics analysis for the mechanism was done.On the basis of this, the error Jacobian matrix of 48 structural parameters, including the hinge point of the spherical hinge, the length of the telescopic rod, the position and the direction vector of the redundant linear module, was established by using the vector differential method. The influence of each error source on the pose of moving platform was obtained by MATLAB tool. Then, the calibration model based on inverse kinematics theory was established. Meanwhile, the actual values of 48 structural parameters of the mechanism were solved by using Gauss-Newton nonlinear least square method. Finally, the validity of the calibration algorithm was verified by MATLAB simulation. The results provide a theoretical basis for the practical application of three translational degree of freedom and asymmetrical (3-2SPS) parallel machine tool with a redundant drive.