In　this　paper,　the　dynamic　behaviors　of　a　elastic　rod　connected　by　a　joint　with　clearance　of　deployable　truss　structures　are　investigated.　A　one-dimensional　cantilever　with　joint　support　is　examined　in　the　deployable　truss　structure.　These　formulations　consist　of　the　nonlinear　joint　dynamic　stiffness　model　and　damping　models　are　formulated　and　the　dynamic　characteristics　of　free-vibrating　structures　are　estimated.　The　natural　frequency　transitions　are　investigated　by　considering　the　contact　and　noncontact　conditions　of　the　clearances,　then　the　formulation　of　dynamic　stiffness　model　is　obtained.　The　friction　models　are　mathematically　formulated　and　simplified　to　make　them　easy　to　calculate.　The　impact　damping　models　are　formulated　using　the　linear　envelope　of　the　time　response　and　it　can　be　negligible　when　the　speed　is　small.　The　dynamic　characteristics　can　be　estimated　by　integrating　these　models　and　formulations　using　the　energy　loss　factors.　Experimental　evaluations　show　the　dynamic　characteristics　and　demonstrate　the　validity　of　the　formulations.　©　2018　Institute　of　Physics　Publishing.　All　rights　reserved.