Large curved surface parts of aircraft feature in high shape accuracy， large manufacturing size and complex shape. Manual scanning measurement causes heavy workload and low measurement efficiency. Therefore， a flexible measurement system based on mobile manipulator and an automatic scanning method of adaptive multi station task execution is proposed to realize the automatic acquisition of 3D measurement data of large aircraft skin surface. First， the position relationship between the flexible measurement system and the object to be measured is modeled. The data transfer relationship in the process of scanning planning and execution is analyzed， and the relative pose of the system is estimated by visual positioning. Second， the feature adaptive scan planning based on scanning efficiency and scan integrity constraints is realized by the feature adaptive scanning path point generation， the scanning station planning and the scanning trajectory planning with efficiency optimization. Finally， by taking four real aircraft parts as the measurement objects， the proposed automatic scanning method is compared with the manual scanning method in terms of scanning efficiency and scanning integrity， and experiments are designed to further verify the measurement accuracy of the system. The results demonstrate the feasibility of the proposed method replacing the manual scanning method.