The dynamic response of the model, which is the series connection of a planar four-bar mechanism and a spatial RSSR mechanism, is analyzed considering revolute joint clearance and friction. A non-holonomic constraint equation is proposed to solve the Euler angles. The dynamic equations are established by combining the Lagrange equation with the modified contact model and the LuGre friction model. A dynamic solution program based on the coordinate partitioning method is designed to solve the dynamic equations. The paper verifies the correctness and applicability of the solution program by comparing the numerical calculation results with Adams simulation. Compared with the results of eccentricity, it is found that the maximum penetration is very sensitive to the change of the slider speed rather than the clearance. The equivalent damping coefficient proposed by authors not only represents whether a collision occurs, but reflects the hysteresis caused by damping. The macroscopic manifestation of the up and down oscillation of eccentricity is the swing of the contact point. Besides, the system quickly changes from the collision into the stable state due to considering friction, and the peak value of each collision reduces greatly. Therefore, when the clearance is unavoidable, the clearance joint should be coated with a material with a large friction coefficient and not easy to wear.