There are few examples of mechanical coupling solutions for the transmission of high torques between two rotating shafts that have non-coplanar, non-parallel axes. Based on the structural analysis, the paper proposes a solution for an RP1PR-type symmetrical coupling. The Hartenberg–Denavit methodology is not applicable for performing the kinematical analysis, hence the solution starts from the geometrical condition of the creation of planar pairs of the mechanism, expressed in vector form. The absolute motion of all elements of the mechanism’s structure can be expressed after developing the kinematical analysis. The theoretical results are validated via numerical analysis. By comparing the analytical results with the CATIA-modeled results, excellent compatibility is obtained. We also propose a constructive solution for the newly designed coupling mechanism.
