A hybrid contact force model of revolute joint with clearance for planar mechanical systems

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A comprehensive survey of the analytical, numerical and experimental methodologies for dynamics of multibody mechanical systems with clearance or imperfect joints (2018, methodology): “Using the hybrid contact force model proposed by Bai and Zhao [200] and the Archard’s wear model, Bai et al.”
Optimal free-defect synthesis of four-bar linkage with joint clearance using PSO algorithm (2013, background): “On the other hand, most of the reported works are related to analysis of linkages with joint clearances [1–21] and the reported works on the synthesis of linkages are more limited [22, 23].”
A review of continuous contact-force models in multibody dynamics (2018, methodology): “The Lankarani-Nikravesh model was used in several studies [109 111] and as a starting point for others who developed new contact-force models based on the Lankarani-Nikravesh model for use in planar mechanical systems with revolute clearance joint [112].”