Compliant Wren mechanisms (CWM) constitute specific compliant structures of particular interest. Derived from Wren mechanisms, they can exhibit a large variety of motions, from quasi translation to quasi rotation. In this paper, the development of models for the analysis and synthesis of CWM is considered. A kinematic model is introduced first to assess all possible motions when used as an actuator. Then the static model and stress expressions are derived to help their design. These derivations are achieved for two types of geometries, corresponding to the geometries of interest. CWM are filigree structures, whose manufacturing is difficult to consider without additive manufacturing. A specific work on their production using selective laser melting (SLM) is then achieved to ensure the reliability of their production. As a proof of concept, a pneumatically actuated component is then developed and tested. It is composed of two CWM of different geometries. It offers the possibility to obtain translation and rotation using a single pressure input. The developed models are investigated using finite element models and experiments using additively manufactured structures.

合规 Wren 机制 (CWM) 构成了特别感兴趣的特定合规结构。源自雷恩机制，它们可以表现出各种各样的运动，从准平移到准旋转。在本文中，考虑开发用于水煤浆分析和综合的模型。当用作执行器时，首先引入运动学模型以评估所有可能的运动。然后导出静态模型和应力表达式以帮助其设计。这些推导是针对两种类型的几何体实现的，对应于感兴趣的几何体。CWM 是花丝结构，如果没有增材制造，很难考虑其制造。然后使用选择性激光熔化 (SLM) 对其生产进行特定工作，以确保其生产的可靠性。作为概念证明，然后开发和测试气动元件。它由两个不同几何形状的 CWM 组成。它提供了使用单个压力输入获得平移和旋转的可能性。使用有限元模型和使用增材制造结构的实验来研究开发的模型。