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In this paper, a three-degree-of-freedom dynamic model of a machine tool table system considering nonlinear contact behaviors is established to obtain vibration characteristics. The relationship between contact deformation and force is derived via Hertz contact theory, and piecewise nonlinear interaction forces are obtained. Then, dynamic differential equations of the three-degree-of-freedom system are constructed. The numerical simulations are solved by Runge–Kutta integration method to investigate the dynamic behaviors of the dynamic system. When the system is under a small excitation force, it exhibits softening nonlinear behavior in the primary resonance region. With excitation amplitude increasing to a larger value, the system exhibits hardening nonlinear behavior. In order to better investigate the effects of excitation amplitude, excitation angle, installation distance and height of work piece on the …