In this paper, the containing mixed clearance of the coupling of rigidity and flexibility multi-body system dynamics model is constructed, and the dynamic characteristics of multibody systems with flexible components are studied. First, a mixed clearance collision force model is established. With the crank slide block as the research object, the rigid and flexible components of the dynamic model are established by the natural and absolute node coordinates methods, respectively. The influence of dynamic characteristics of the connecting rod of the flexible component is analyzed in the time and frequency domains. The results show that the flexible component has certain buffer actions for the clearance collision force, can restrain the high frequency vibration of the collision, and are more obvious with the decrease of the elastic modulus of high frequency suppression.