In the dynamic modeling and simulation of mechanical system with revolute clearance joint, it is usually assumed that the revolute joint is planar joint with radial clearance, but the axial clearance is ignored. In this article, the dynamic responses of a mechanical system considering both radial and axial clearances in 3D revolute clearance joint are investigated using a computational methodology. First, the mathematic model of 3D revolute clearance joint is established considering the radial and axial clearances. The definitions of the radial and axial clearances, the potential contact modes, contact conditions, and contact detection for 3D revolute clearance joint are presented. Furthermore, the normal and tangential contact force models are established to describe the contact phenomenon and determine the contact forces in revolute clearance joints. Finally, two demonstrative application examples are presented to illustrate the dynamic characteristics of mechanical systems considering both radial and axial clearances in revolute clearance joints. A slider-crank mechanism with planar motion and a double pendulum with spatial motion are investigated. Different cases are presented to analyze the dynamic characteristics of a mechanical system considering radial and axial clearances in 3D revolute clearance joints.
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