A fully compliant homokinetic coupling

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10 Citations (Scopus)


This paper introduces a homokinetic coupling, a constant velocity universal joint (CV joint), which is fully compliant and potentially monolithic. The proposed compliant design can accommodate high misalignment angles between the input and the output rotational axes. Additional kinematic constraints are applied to well-known Double Hooke’s universal joint, to guarantee a one-to-one constant velocity rotation transmission for all different misalignment angles. The influence of the extra constraints on degrees-of-freedom (DOF) of the mechanism is studied using screw theory. Furthermore, it was shown that the mechanism is yet a 1DOF linkage for rotation transmission and a 2DOF rotational joint as all universal joints. The kinematics of the mechanism is studied, and constant velocity conditions are identified. The pseudo-rigid-body model (PRBM) of the new angled arrangement of the Double Hooke’s universal joint is created, and the input–output torque relationship is then studied. The different possible compliant embodiments based on the PRBM model were discussed and illustrated. Moreover, one of the proposed compliant counterparts is dimensioned as a power transmission coupling for a high misalignment angle, up to 45 deg. Further, a prototype was manufactured for the experimental evaluation, and it is shown that the results are consistent with the PRBM
and the finite element model.
Original languageEnglish
Article number012301
Number of pages9
JournalJournal of Mechanical Design
Issue number1
Publication statusPublished - 2017

Bibliographical note

Paper no. MD-17-1126


  • compliant mechanisms
  • power transmission
  • kinematic joint
  • CV joint
  • homokinetic coupling


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