Joint　clearance,　which　is　always　being　viewed　as　a　negative　factor　in　most　machine　operations　and　hoped　to　be　eliminated　in　previous　studies,　can　be　used　to　release　some　constraints　in　mechanisms,　especially　in　overconstrained　linkages.　It　is　expected　to　prevent　the　movement　of　the　developable　structure　constructed　with　overconstrained　linkages　from　being　stuck　due　to　the　deformation　of　the　components.　In　this　paper,　we　propose　a　general　comprehensive　model　of　3D　clearance　for　revolute　joints　(R-joints)　and　focus　on　the　kinematic　performance.　From　a　kinematical　perspective,　contact　modes　of　journal　and　bearing　are　divided　into　four　cases　by　treating　the　point　(or　line,　surface)　contact　as　a　single-point　contact.　Then,　the　relative　motion　of　journal　and　bearing　is　analysed　and　derived　by　D-H　method.　Using　the　model,　we　present　a　method　to　study　the　kinematic　characteristics　of　overconstrained　mechanisms　with　joint　clearances.　The　correctness　of　the　proposed　method　is　verified　by　the　comparison　with　a　numerical　case.　©　2023,　The　Author(s),　under　exclusive　license　to　Springer　Nature　Singapore　Pte　Ltd.