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In order to study the dynamic characteristics of revolving joint with clearance, the theoretical model of the revolving joint with clearance is established by using Newton Euler method and “contact-separation” state model. The kinetic equations are solved by using the Gear algorithm in MATLAB software. The change curves of the contact force and the center trajectory of the revolving joint shaft with clearance are obtained considering different clearance, contact stiffness, and rotational speed together. The research results have laid a theoretical foundation for improving the joint forces and the accuracy by using controller.

Research on dynamic characteristic of connecting rod with joint clearance