This paper takes account of the boundary condition of elements of a joint with clearance when contact occur

by using the nonlinear spring damper formulation to model the resulting reaction force between the elements of clearance joint. The dynamic response of a revolute joint in a four-bar mechanism with a clearance is investigated. When the resulting equations of motion are solved numerically

they show the elements of a clearance joint keeping continuous deformation contact when the mechanism works at high speed.