AbstractA novel self-centering rotational joint (SCRJ) was proposed to replace the plastic hinge at the beam end to achieve a seismic resilient frame without diminishing the structural usability. The quasi-static cyclic tests of the SCRJs with different sets of friction components and disc springs were conducted, with the results showing that the precompressive force, stiffness of the compressive force, and slope angle of the right helicoid surfaces can significantly affect the hysteresis behavior. The hysteresis curve of the SCRJ demonstrates a flag shape with four characteristic states: activation state, ultimate state, reversal activation state, and deactivation state. The displacement-based design approach was adopted for the resilient steel moment resisting frame structure with the SCRJs based on which a six-story resilient frame structure was designed with the SCRJs at the beam ends. The nonlinear dynamic analysis shows that the interstory drift ratio and residual interstory drift ratio of the resilient frame structure can meet the design objectives, in which the SCRJs reach the plastic state (caused by geometric nonlinearity) more easily than conventional plastic hinges (caused by material plasticity), resulting in larger deformations, and can effectively dissipate seismic energy and protect the main frame from yielding under the rarely occurring earthquake (ROE) level.