This paper presents a novel study on the analysis and design of a new type compliant spatial four-bar (RSSR) mechanism. To the best of our knowledge, any research on compliant spatial mechanisms which possesses out of plane motions is not available in the literature. This study introduces enumeration and novel approach for the analysis and design of such mechanisms. The analysis and design are performed with the pseudo-rigid-body model (PRBM). Since there are numerous applications of rigid spatial four bar mechanisms, it is strongly believed that a compliant version of such mechanisms may find many applications. (C) 2011 Elsevier Ltd. All rights reserved.