中文摘要：

为了克服传统三坐标测量系统的体积大、结构复杂、不能现场测量等缺点， 研制开发一种新颖的基于旋转关节和转动手臂的多关节柔性三坐标测量系统．首先基于Denavit-Hartenberg方法建立了多关节柔性三坐标测量系统的理想数学模型，在考虑到结构误差基础上修正得到误差模型，最后详细分析系统中影响测量结果的各种误差因素．仿真实验结果表明数学模型的正确性，并为进一步研究系统的误差补偿和提高测量精度提供了理论基础．

英文摘要：

In order to overcome the disadvantage of traditional CMM （Coordinate Measuring Machme） such as large volume, complicated construction and non-portability, the articulated arm flexible CMM is developed, which is a new type of CMM with rotational joints and flexible arms. By using Denavit-Hartenberg analysis arithmetic, the ideal mathematical model of the articulated arm CMM are established and amended to error model according to structural parameters. Lastly all error sources are deeply analyzed. The feasibility of the models is verified by simulating experiments, which establishes a theoretic base for introducing error compensation and increasing accuracy.