A Perturbation Method of Solving the Differential Equations of the Linkages with Clearances

A perturbation method of solving the nonlinear motion differential equations of the mechanisms with clearances, which based on the Continue Contact Model, is obtained by theoretical analysis. The solution of the differential equations of the systems can be calculated by the analysis of the nominal zero-clearance linkages. The new method is stable and has an acceptable precision and needs shorter computation time.