Madhavan, BharathTsai, L-W.A systematic methodology is employed for the enumeration of 1:-1 constant-velocity shaft couplings. As a result, four potential 1:-1 constant-velocity shaft couplings that are free from singular conditions are enumerated. A promising mechanism is selected for the dynamic analysis. The analysis shows that the mechanism does have the potential for use as a 1:-1 constant- velocity shaft coupling and as a gearless differential.en-UScomputer aided designkinematicsIntelligent Control SystemsTechnical Report