To　improve　the　positioning　accuracy　of　industrial　robots　and　meet　the　requirements　of　industrial　applications,　this　study　begins　with　the　structural　design　of　multi-jointed　industrial　robots　and　proposes　a　kinematic　calibration　method　based　on　axis　fitting.　The　proposed　method　introduces　an　axis　fitting　technique　based　on　circle　fitting.　Utilizing　the　results　of　the　axis　fitting,　a　method　for　establishing　link　coordinate　systems　by　referencing　the　Modified　Denavit-Hartenberg　(MD-H)　model　is　presented.　Subsequently,　a　kinematic　parameter　identification　method　is　proposed.　This　study　primarily　investigates　the　impact　of　joint　rotation　angles　on　the　accuracy　of　axis　fitting.　The　study　reveals　that　when　the　rotation　angle　is　greater　than　or　equal　to　20　degrees,　the　circularity　of　the　circle　fitting　is　less　than　0.008　mm,　and　the　planarity　is　less　than　0.01　mm,　indicating　that　the　proposed　fitting　algorithm　meets　the　required　precision　for　small　angle　rotations.　Finally,　the　positioning　accuracy　of　the　target　robot　is　verified　according　to　ISO　9283:1998.　After　calibration,　the　positioning　accuracy　at　point　P1　improves　from　1.64　mm　to　0.46　mm,　an　enhancement　of　71.95　%,　which　is　the　most　significant　improvement.　At　point　P2,　the　positioning　accuracy　improves　from　1.75　mm　to　0.69　mm,　an　enhancement　of　60.5　%,　which　is　the　least　improvement.　The　advantage　of　this　method　lies　in　its　ability　to　identify　kinematic　parameters　that　align　with　the　actual　structure　of　the　robot　using　a　simple　measurement　method,　thereby　improving　the　robot＇s　positioning　accuracy.