Clearances always exist in real joints in order to ensure the correct relative motion between the components

and it is also the source for impact forces

resulting in wear of the joints and contact deformation

and consequently of the mechanism failure.In order to study the dynamics performance of planar mechanism having joint with clearance

the normal and tangential contact forces between joint elements are described using the Flores

et al contact force model and correctional Coulomb friction force model.Subsequently

the dynamics model of mechanical system with clearance is established via the equations of motion for multibody system

and the introduction of the Baumgarte stabilization technique is to keep the constraints violation under control.The slider-crank mechanism is taken as an example to develop how the joint with different clearance sizes affect its dynamic characteristics by the numerical simulation

and the correctness of the proposed method is verified through the authoritative experimental data.