Compliant mechanisms have several advantages, especially smaller number of elements and therefore less movable joints. The flexural members furthermore allow an integration of special functions like balancing or locking. To take advantage of compliant elements in applications a robust synthesis tool is needed. This demand fulfills a geometrical approach (Ehlig et al. in Mechanisms, transmissions and applications. Springer, Heidelberg, 2013, [1]) concentrating on solving guidance tasks by RR-chain (one link with two rotational joints (R).) based compliant linkages with maximum design freedom within the installation space. This step-by-step synthesis procedure is extended to PR (one link with one frame fixed prismatic joint (P) and one moving rotational joint (R).)/ RP (one link with one frame fixed rotational joint (R) and one moving prismatic joint (P).)-chain based compliant linkages. The necessary analysis of the compliant beam element can be done by numerical analysis as well as through experiments and the elastic similitude. The synthesis method is presented and discussed by using an application for a cup holder mechanism made offibre reinforced material and comparing this results to the result given in (Ehlig et al. in Mechanisms, transmissions and applications. Springer, Heidelberg, 2013, [1]).