The　center　of　the　mandrel-target　is　unique　and　does　not　get　affected　by　the　extrinsic　angle　of　the　projector.　On　this　basis,　a　mandrel-target-based　method　is　described　to　simultaneously　calibrate　the　extrinsic　parameters　and　the　turntable　of　a　multi-axis,　structured-light-sensor-integrated,　three-dimensional　(3-D)　scanning　system.　Besides,　a　cross-section-arc　algorithm　is　developed　to　identify　the　conjugate　pair.　By　computing　the　mandrel-center　in　the　light　plane,　some　collinear　scanning　points　are　generated　along　with　the　spindle　scanning.　Further,　these　calibration　points　are　employed　to　the　tip-tilt　self-calibration　of　the　turntable.　In　the　two-scanning　strategy,　three　sets　of　non-colinear　points　are　derived　simultaneously　by　relatively　moving　the　sensor　at　distinct　world　coordinates.　These　generated　points　are　fulfilled　to　calibrate　the　extrinsic　parameters　with　the　relative　motion　model.　By　determining　the　direction　vectors,　the　skewed　sensor　coordinates　are　converted　into　the　Cartesian　world　coordinates.　The　effectiveness　of　the　proposed　method　is　verified　using　a　set　of　experiments.　The　accuracy　of　the　proposed　model　is　justified　by　comparing　it　with　the　measurements　of　a　CMM　trigger　probe.　The　absolute　measurement　accuracy　for　a　mandrel-target　(about　7.4827　mm　in　radius　and　16　mm　in　depth)　is　0.002　mm.　The　target　is　cost-effective　and　simple　in　shape.　The　calibration　procedure　is　easy　to　carry　out　and　highly　accurate.　©　2020