A numerical approach of wear prediction integrating with system kinematics is proposed to investigate the interaction between wear of joint with clearance and kinematics in multi-body systems. The coupling between wear of joint and system kinematics is modelled by integrating wear prediction process with finite-element-based iterative scheme. Kinematical behaviours of a machine with a kinematical model of imperfect joint are progressively changed throughout joint wear process. The massless link model for clearance joint with the assumption of continuous contacts is used. Results from predictions and tests show that both wear zones and wear depth are different for the pin and bushing.
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