As a class of compliant mechanisms that derive their motion from the deflection of flexible members, spherical compliant joints offer frictionless displacement, compactness, and improved precision compared to their rigid counterparts. Among these, tetra joints have gained significant attention in recent years. A novel approach for modeling and analyzing tetra joints, that is challenging due to their special geometry, is presented in this study. An efficient geometric model for streamlined tetra joint modeling, utilizing a Computer-Aided-Engineering (CAE) framework in COMSOL Multiphysics, is introduced. Through detailed discussions, the generation of tetra joint’s geometry and the development of a parametric model are elucidated. Additionally, guidelines for constructing the finite element model of the joint and defining relevant boundary conditions are provided. To demonstrate the applicability of the proposed model, two critical parameters of tetra joints are analyzed: the vertical position of the remote center of rotation and the joint’s height. The results highlight the significant influence of the vertical position of the remote center of rotation on the joint’s mobility, indicating that proximity to the top face of the tetrahedron leads to increased rotation. Conversely, variations in the joint’s height have a less pronounced effect on resulting rotations.