Abstarct: Traditional joints always have some clearance which increases vibrations and acceleration. Flexural joints are a new type of joints that the clearance is eliminated and can be built seamlessly. The presence of intrinsic stiffness in the flexural joints increases the stiffness of the joints, and it can reduce the difficulties caused by clearance in other joints. The purpose of this research is to decrease the effect of joint clearance using flexural joints. First, dynamic equations of a plane mechanism with clearance joints and flexural joints are derived. The slider-crank mechanism is used as a plate mechanism, and all processes are implemented. The Lagrange equation is used to extract dynamic equations, and the flexural joints are modeled baxsed on a pseudo rigid body model in which the bending moment is modeled as a torsional spring. The design of several types of flexural joints is baxsed on defining the optimization problem and optimal design. Design variables of optimization problems include joint geometry and material properties. For the objective function, maximum acceleration has been used. Optimization algorithms are solved using three mexta-heuristic methods, including GA, PSO, and GOA. The results show that utilizing the flexural joints in the desired mechanism can reduce the maximum values of acceleration required.