In this paper the effect on the output error of function-generating spatial linkages due to tolerances on the links and clearances at the hinges is analyzed. Tolerances on link lengths are assumed to be normally distributed. For the clearance error in spherical, prismatic, and revolute joints, uniform probability density function is assumed. However, the models developed and the analysis procedure proposed can be used for any other probability density function including the mean and variance values derived from experimental information. A synthesis procedure to allocate tolerances and clearances on different members of linkages to restrict the output error within specified units is developed. Results of analysis and synthesis are given for two example problems involving RRSS and RSSR mechanisms.

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