This paper outlines a procedure for modeling revolute joints with clearances and solving for the quasi-static forces in a mechanism with clearances in the joints. The results from the force analysis are used in an iterative fashion along with the position, velocity, and acceleration analysis to finally obtain the kinematic solution for the mechanism with clearances at the joints. The iterative procedure is general and essentially remains the same for other joint types. The situation for revolute joints is presented here. A general outline of the clearance joint model and the iterative procedure is given first, followed by the flowchart of the process and an example.

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