a. Experimental loading configurations. Green: nut. Blue: screw. A (Top‐left): External load on screw and clamped nut on same side. B (Top‐right): External load on screw and clamped nut on opposite side. C (Bottom‐left): External load on nut and clamped screw on opposite side. D (Bottom‐right): External load on nut and clamped screw on same side. b. Modelling of a compliant PRSM (configuration A) inspired from [5]. Only one equivalent roller is shown. The nut (resp. screw) has n contacts with the equivalent roller. 5 different springs are considered: bulk nut k_N, bulk screw k_S, bulk roller k_R, roller‐screw contact k_SR and roller‐nut contact k_NR.