As friction and clearance exist in mechanism kinematic pair simultaneously

the modeling and computation would be very complicated. A nonlinear model of the hinge is built by using switch bond graph and it is embedded into the vector bond graph modeling of mechanism in the form of module.The hybrid bond graph model of mechanism considering the nonlinear factor is given.A case study on the clamping mechanism is analyzed.The effect of the nonlinear factor on the dynamic performance of clamping mechanism is analyzed by simulation.The results demonstrate the proposed method can describe the dynamic performance of mechanism considering the nonlinearity of the hinge in a more accurate and simple way.