A central drive shaft-sliding knuckle combined with a peripheral crank pin-swing link mechanism (CSPS) to provide an orbiting scroll with radial and axial compliant capability. The CSPS mechanism can be applied to both dual floating scroll and single floating scroll structures to improve performances of scroll devices, particularly in oil-free operations. In addition, an orbiting dual thrust ball bearing mechanism is provided to take thrust load in, for example, a floating scroll compressor with a CSPS mechanism.