Noname

Influence of clearances on an error of positioning for the long-distance mobile robot is examined. The geometrical model of «clearance» in a rotational kinematical pair is developed. It is displayed how external loadings influence migration of the rotational kinematical pair elements in the clearance. The method of an error definition at the positioning of the end-effecter of the manipulator, arising due to presence of clearances in rotational kinematical pairs is developed.