As for complex surfaces, five-axis NC machine tool is an important equipment to achieve the precision machining; the accuracy of the machine tool itself is an important prerequisite to ensure accuracy. A large five-axis CNC machine tool is studied in this paper by analysis of errors, the moving axis and rotary axis geometric error mathematical models is achieved by the application of multi-body kinematics theory. the position and attitude error expression of the tool relative to the work piece coordinate system are deprived, provide a accurate mathematical model for error compensation and improve the accuracy of CNC machine tool.