<p>To investigate the dynamic response characteristics of the rudder actuator with lubrication clearance under strong disturbances, this paper proposes a hybrid contact force model that takes into account both bearing length and adaptive restitution coefficient. Additionally, considering the effects of oil film lubrication, the dynamic model of the rudder actuator with lubrication clearance is established based on the Lagrange multiplier method. The study examines the influence of various factors, including clearance sizes, dynamic viscosity, and impact loads on the actuator's dynamic performance and nonlinear characteristics. The results indicate that these nonlinear factors have a minimal effect on the rudder angle, and the introduction of lubricant significantly lessens their impact on the dynamic response characteristics of the mechanism with dry clearance. However, when the clearance size is small, the lubricant can actually increase the chaos intensity of the mechanism. Additionally, the impact of load on the mechanism's dynamic response should not be underestimated. To validate the accuracy of the dynamic model, a loading test rig for the rudder actuator was constructed, and experimental verification confirmed the model's reliability. This paper offers a theoretical foundation for addressing the challenges associated with high-precision control of rudder actuators driven by pushrods.</p>