The Influence of Kinematic Joints Clearances on the Positioning Accuracy of 3DOF Delta Parallel Robots

During the latest years the robots with Delta 3DOF parallel structure began to be used more and more in high accuracy applications, due to their advantages: high stiffness, availability for usage at high rates of speed and acceleration [1, . Obviously, for the high accuracy applications the elaboration of new analysis methods of the positioning accuracy is imposed. Further to the deviations of the element dimensions in the structure of the kinematical couplings or wear, perturbing influences may occur on the positioning accuracy. This work approaches the influence of the maximum clearance in the kinematical couplings on the positioning accuracy and its repartition on the work space of the robots with Delta 3DOF parallel structure, by using a method that has numerical solution.