In order to improve the dynamic performance of cam mechanism with high clearance. The two-state impact sub-model is used to simulate the gap between the cam and the follower to construct the dynamic model of the gripping cam mechanism considering the damping. The finite difference method is used to solve the dynamic equation with the cycloidal cam curve as the excitation function. The time domain and frequency domain analysis of the gap dynamics model are carried out, and the corresponding acceleration time domain and frequency domain response map are drawn. The influence of the damping ratio and the cycle ratio on the dynamic response is obtained. Then, several high speed cam curves are kinetics analysis. It is concluded that the existence of the gap will lead to the deterioration of the response accuracy of the system. The effect of the gap on the accelerating section of the follower is small, which has a great influence on the deceleration and deceleration period. The application of traditional theory in gap dynamics is limited.