Abstract
The aim of the research was to introduce a methodology for dynamic response and motion consistency research on multibody system with multiple revolute clearance joints. An improved impact force model and a modified friction force model were introduced to evaluate the effects of impact and friction in clearance joints. A planar parallel mechanism which has two clearance joints in the left wing and the right wing was also used as an example. From the results based on different conditions, clearance has slight influence on the angular displacement and angular velocity, but obvious effect on angular acceleration. And with same clearance values of left wing and right wing, the motion consistency of the parallel mechanism is very good, which means the dynamic response of two wings is almost symmetrical. When the two clearance joints have different clearance values, the motion consistency and relative error between two wings are much obvious, especially the angular acceleration.
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