Abstract: Based on virtual prototyping technology，the six-degrees of freedom Articulated Coordinate Measuring Machine（A-CMM） is investigated，and the measure space of the A-CMM is analyzed and simulated.The kinematics equation and the kinematics virtual prototyping model of the A-CMM are established.And then using some special posture and position pictures to identify virtual prototyping model，and compared the data from the virtual prototyping model and kinematics equation to verify the accuracy of the model.Results show that the model can accurately reflect the position and orientation of the probe，and thus facilitate the effective motion simulation in the entire measure space.The correct virtual prototyping model and the right kinematics equation are the base for the further research of position error distribution of the probe in the whole measure space.

摘要： 基于虚拟样机技术对六自由度关节臂式坐标测量机的测量空间进行研究和仿真，建立了六自由度关节臂式坐标测量机的测量运动学数学模型和虚拟样机模型。在建立起虚拟样机模型之后用图解法对其进行了检验，并将得到的虚拟样机模型与运动学数学模型进行比较验证，结果表明虚拟样机模型能够准确地反映测头位姿，方便有效地进行整个测量空间的运动仿真。正确的虚拟样机模型与测量运动学模型是研究测量机的误差空间分布的必要环节，为下一步工作奠定了研究基础。