Mechanical arm kinematic parameter calibration method and system

The invention discloses a mechanical arm kinematic parameter calibration method and system. The method comprises the steps that a calibration device is initialized so as to confirm the zero positions of displacement sensors; the calibration device is formed by assembling the six displacement sensors according to a 3-2-1 six-point positioning manner; the pose of a coordinate system of a measured block relative to a coordinate system of the calibration device is confirmed; the measured block is a gauge block mounted at the tail end of a to-be-calibrated mechanical arm; a kinematic error model of the calibration system is confirmed based on the pose, the first positioning deviation, the second positioning deviation and the third actual pose; measurement data are obtained; and based on the kinematic error model of the calibration system and the measurement data, mechanical arm kinematic parameters are calibrated. By means of the method and system, the purposes of good universality, low cost, high efficiency and h