In order to study the dynamic wear of revolution joint with clearance in mechanical system, the dynamic model of mechanical system with joint clearance is presented. The clearance model is established based on clearance vector model. The contact dynamic model in joint clearance is established using the nonlinear equivalent spring-damp model and the friction effect is considered by using correction Coulomb friction model. And then the models are incorporated into dynamics simulation software ADAMS, the dynamics model of mechanical system with joint clearance is established based on ADAMS and the simulation is made. Furthermore, the contact dynamics parameters are drawn and calculate the wear volume of joint clearance based on Archard’s wear model. Finally, a crank follower mechanical system is used to perform the simulation and the dynamic wear characteristics are analyzed.