Abstract: This paper aims at a class of novel mechanisms, i.e. fully compliant robotic mechanisms and their structural configurations. Firstly, these mechanisms are classified according to their different applications, and the relationship between this mechanism and the parallel architecture is also discussed. Through the summarizations for the configurations of current parallel architectures and geometrical models of all kinds of flexure hinges, a large amount of material which is used in the choice and construction of fully compliant robotic mechanism can be obtained. At the sometime, the structural distribution about fully compliant robotic mechanisms is paid more attention since it may heavily influence the characteristics of the mechanism.