Abstract: Tostudytheimpactofthearmandjointflexibilityon theterminalcalibrationprecisionwhenthespacemulti-degreesoffreedommanipulatordidspatialmotioninalargerange，consideringthesecondarycouplingtermofaxialstretchingcausedbytheflexiblearmhorizontal/lateralbendingdeformation，aD-Hmethodwasproposedbasedonflexiblearmbyusingarotortorsion-springmodelincludinglumpedmasstodescribetheflexibleeffectofjoints.Theflexiblemechanismmovementequationofspacemanipulatorwasproposed.Thefirstapproximationrigid-flexiblecouplingdynamicsequationsofspacedoubleflexiblemanipulatorwasestablishedbyusingtheHamiltonprinciple．Thesimulationoftheterminalcalibrationerrorofthespacesixjointsdoubleflexiblemanipulatorwascarriedout.Theresultsshowthat：armandjointflexibilityarecoupledwhenthespacemanipulatorisinalargerangemovement.Toimprovethesuccessofthecaptureandoperation，thefetchingtargetsshouldbesetinthedirectionwithasmallercalibrationerrorofmanipulatorsinengineeringapplications.

Key words: spacemanipulator, flexiblearm, flexiblejoint, rigid-flexiblecoupling, calibrationerror