按Ｄｅｎａｖｉｔ－Ｈａｒｔｅｎｂｅｒｇ方法，建立了多关节坐标测量机末端测头中心相对于机座参考坐标系的测量运动的数学模型。在此基础上，运用矩阵函数的全微分方法，建立起末端测头中心坐标误差与测量运动模型参数误差之间的传递关系。为进一步研究多关节坐标测量机的标定和补偿奠定了理论基础。 According to the Denavit-Hartenberg method, a mathematical model of the measurement movement of the center of multi-joint CMM end center relative to the frame reference frame is established. Based on this, the transfer function between the coordinate error of the end probe and the parameter error of the measurement motion model is established by using the method of full differential of matrix function. It laid the theoretical foundation for further research on the calibration and compensation of multi-joint coordinate measuring machine.