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建立了考虑运动副间隙的五种基本类型二级杆组的数学模型，并据此编制了求解含间隙二级杆组的通用子程序和一些辅助子程序，从而使传统的杆组法能够应用于含间隙平面连杆机构的运动误差分析。
The mathematical model of five basic types of secondary lever group considering the secondary clearance of movement is established, and the common subroutine and some auxiliary subroutines for solving the secondary lever group with gap are developed accordingly, so that the traditional method can be applied Motion Error Analysis on Linkage Mechanism with Clearance Plane.