Helix couplings can be used...
Helix couplings can be used universally for backlash-free transmission of rotary movements. Optimum compensation of angular misalignment, vibration damping, high torsional stiffness, low restoring forces, no moving parts, manufactured as one piece. Mounting with adjusting screws or clamping flange.
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Resuming on linksCAD Files: Helix Coupling