The paper deals with the kinematic sensitivity of robotic manipulators to joint clearances. First, an error prediction model applicable to both serial and parallel manipulators is developed. A clearance model associated with axisymmetrical joints, which are widely used in robotic manipulators, is also proposed. Then, two nonconvex quadratically constrained quadratic programs (QCQPs) are formulated in order to find the maximum reference-point position error and the maximum orientation error of the moving-platform for given joint clearances. Finally, the contributions of the paper are highlighted by means of two illustrative examples.

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