The　correction　accuracy　of　an　external　fixator　is　crucial　to　the　treatment　outcome　of　deformity　correction　and　patient　safety.　In　this　study,　the　mapping　model　is　established　between　the　pose　error　and　kinematic　parameter　error　of　the　motor-driven　parallel　external　fixator　(MD-PEF).　Subsequently,　the　kinematic　parameter　identification　and　error　compensation　algorithm　of　the　external　fixator　is　established　based　on　the　least　squares　method.　An　experimental　platform　based　on　the　developed　MD-PEF　and　Vicon　motion　capture　system　is　constructed　for　kinematic　calibration　experiments.　Experimental　results　show　that　the　correction　accuracy　of　the　MD-PEF　after　calibration　is　as　follows:　translation　accuracy　dE1　=　0.36　mm,　axial　translation　accuracy　dE2　=　0.25　mm,　angulation　accuracy　dE3　=　0.27°,　and　rotation　accuracy　dE4　=　0.2°.　The　accuracy　detection　experiment　verifies　the　kinematic　calibration　results,　which　further　validates　the　feasibility　and　reliability　of　the　error　identification　and　compensation　algorithm　constructed　by　the　least　squares　method.　The　calibration　approach　used　in　this　work　also　provides　an　effective　way　to　improve　the　accuracy　of　other　medical　robots.　©　2023　Elsevier　Ltd