This paper presents the design, optimization, and validation of a novel flexure-based constant-velocity (CV) joint-called Anvil Joint-benefiting from the high axial load capacity of the known notch universal joint [1] and the low homokinetic defect of the known O 3 XY 3 universal flexure [2] relying on equatorial folded leaf springs. The Anvil joint and the O 3 XY 3 are analysed and compared through numerical optimization using the Spacar software, followed by finite element validation in COMSOL. The Anvil joint demonstrates higher performance in terms of axial load capacity, but lower homokinetic precision. Analytical modelling confirms the source and mitigation of parasitic motion. A 3Dprinted prototype is experimentally evaluated, validating numerical predictions.