Abstract: The performance of space robot manipulators is strongly influenced by positional accuracy, structural integrity, and mechanical tolerances. Joint clearances in revolute and prismatic joints significantly affect both kinematic and dynamic behavior, leading to reduced accuracy. This study analyses the impact of joint clearance and backlash on the dynamic performance of a six-DOF free-floating space robot (FFSR). A numerical experimental model is developed incorporating clearances in all joints, and its end-effector positional deviations are compared with an ideal, clearance-free model. Additionally, joint torque variations and end-effector force fluctuations are evaluated. The results highlight how joint clearance and backlash degrade positional accuracy and overall dynamic performance.