Abstract: This paper presents a new model based on Kane's Method for the research of mechanisms with clearances. As an example, a planar crank lever mechanism with a clearance is studied. The dynamic equations obtained in the analysis are exact and simple. Some dynamic properties of the mechanism at high speed are revealed from numerical results. The model can b. easily applied to the study of spatial mechanisms with clearances.

Key words: 机构动力学, 运动副间隙