The accuracy of automated assembly heavily depends on the accuracy of automated pose measurement. The commonly used pose measurement methods are based on non-contact measurement methods, which have low robustness due to lighting, distortion, and other factors. To improve the flexibility and robustness of pose measurement, this article proposes a contact-based pose measurement method. This method is based on a multi-probe contact measurement system and decouples the pose adjustment into independent measurements of pose, center, and phase. Firstly, a visual coordinate system is established by using visual guidance to achieve flexible measurement through self-updating of point measurement paths. Subsequently, coordinate points are obtained by measuring the workpiece plane, circumference, and hole circumference. Finally, the least squares method is used to fit the plane and project the circumference points to fit the center of the circle. The vector space angle formed by the center of the positioning hole is solved to obtain the adjustment of posture, phase, and center. The proposed method can improve measurement efficiency, and the decoupling adjustment method greatly reduces the mutual influence of pose tuning, improving the flexibility and robustness of pose measurement. The effectiveness of the proposed method is evaluated through experiments. The experimental results show that the relative position deviation of the workpiece is less than 0. 075 mm, the attitude angle deviation is less than 0. 02°, and the phase angle deviation is less than 0. 055° after the adjustment of the space pose flexible contact measurement method.