Clearance joint widely occurs in the components of mechanical systems as evidence of manufacturing errors. Since a proper set of parameters in the contact and friction model could lead to a higher precision of clearance analysis, the effect of friction models when surfaces collide with a non-zero tangential velocity is examined. Unlike the crank mechanism, a double rocker four - bar linkage mechanism as a challenging problem in the impact mode is analyzed. An investigation on the dynamic modeling and analysis of double rocker four - bar linkage mechanisms with frictional revolute clearance joints is presented. In the presence of clearance joints, asserting friction force, a novel formulation of the contact model is proposed after exploring the perfect continuous friction models with easy parameterization and analyzing the applicable compliant contact force models. The perfect continuous friction models including stribeck effect, static, dynamic, and viscous friction terms are studied, and four friction models (Ambrosio, Threlfall, Anderson and Brown) are thoroughly compared. Using an appropriate model, nonlinear dynamic behaviour is examined and to profit by Poincare portrait; it is proven that either strange chaos exists in the system response. FFT analysis expresses the friction and restitution coefficient influence the nonlinear dynamics of the mechanism significantly. The main consideration here is to present a friction model for improving continuity and computational cost. This paper comes to efficiency of the brown friction model which is used in the clearance joint for first time. The results clearly reveal that the angular accelerations of the links and the contact forces in the continuous friction models are smoother and bounded.