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采用连续接触模型，编制了求解含间隙杆组的通用子程序和辅助子程序，结合应用无间隙机构和含间隙机构的杆组法，提出了考虑运动副间隙影响的平面连杆机构运动误差分析的基本方法和步骤。
By using the continuous contact model, a common subroutine and auxiliary subroutine for solving the clearance-bar-group assembly are developed. The motion error analysis of the planar linkage mechanism considering the influence of the clearance of the movement is proposed by combining the clearance-free mechanism with the bar-group method with the clearance mechanism. The basic methods and steps.