分析了含间隙运动副副元素的碰撞分离过程，指出线性弹簧阻尼模型不能满足接触边界条件并产生力突变；

This paper points out the disagreement of boundary conditions that generate force discontinuity in the linear spring damping contact model by analyzing the contact modulation of the clearance joint.

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结果表明：间隙所处的位置显著地影响着机构的运动，而含间隙机构中普遍存在混沌现象。

The result shows that the motion is notably affected by clearances located in different pairs and chaos generally exists in mechanism with clearance.

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本文完成的工作有助于进一步深入研究含间隙机构的非线性振动特性，从而实现运动状态的控制。

The conclusions in this paper provide the valuable basis for the further study of the nonlinear vibration of mechanism with clearance and the control of the motion state.

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