Lunar sampling manipulator has large span and a low stiffness. Its links and joints are prone to large flexible deformation under static external force， which affects the absolute end positioning accuracy of the manipulator. At the same time， the kinematics error caused by manufacturing assembly error also increases the difficulty to the improvement of the manipulator’s accuracy. In order to improve the absolute positioning accuracy of the end， a method for robot kinematics parameter calibration based on elastic error model is proposed. Firstly， based on the modified Denavit-Hartenberg （MDH） model， the kinematics model and the geometric error model are established. Secondly， based on the force analysis of the joints and links of the manipulator， the elastic error model is established to reflect the relation between the elastic error and the end positioning error of the manipulator. Thirdly， the kinematics error model is developed by combining the geometric error model with the elastic error model. Finally， a method for kinematic calibration is designed and kinematic parameters is identified. The experimental results show that the method can effectively improve the positioning accuracy of the end of the manipulator.