Joint clearances in linkages and backlashes in gear trains lead to "position errors". Accuracy suffers if clearances and backlashes are allocated liberally while tighter allocation leads to higher manufacturing cost. Hence acceptable procedure is to allocate joint clearances or backlashes in such a way that the maximum position error is limited to a specified value. A simple method based on the concepts of parallelism and optimization is proposed. This method is extended to platform-type spatial robots.
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