2019 22nd International Conference on Electrical Machines and Systems (ICEMS)

Kinematics Modeling and Pitch Diameter

Modification of the Standard Planetary Roller
Screw Mechanism
Xinhua Zhang Xijian Huo Jian Huang
Beijing Institute of Automation and Beijing Institute of Automation and Beijing Institute of Automation and
Control Equipment Control Equipment Control Equipment
Beijing, China Beijing, China Beijing, China
[email protected] [email protected] [email protected]

Xiaoshuai Duan Guan Wang

Beijing Institute of Automation and Beijing Institute of Automation and
Control Equipment Control Equipment
Beijing, China Beijing, China
[email protected] [email protected]

Abstract—Aiming at the problem of precise parameter e 、 f 、 g ——denote the axial displacement of the screw,
matching of the planetary roller screw mechanism (PRSM),
kinematics modeling and pitch diameter modification methods the roller and the nut, respectively; ρ s 、 ρ r 、 ρ n ——
of the screw are studied in this paper. Firstly, the kinematics denote the axial displacement generated by rotating the unit
model of the standard PRSM is established using algebraic angle counterclockwise of the screw, the roller and the nut,
methods, which reveals the matching relationship of screw
parameters among the screw, the roller and the nut. And the respectively; θ s 、 θ r 、 θ n ——denote the angular
design criterion of the standard PRSM is established. Based on displacement of the screw, the roller and the nut about its
the meshing principle of space cross threads between the screw axis, respectively; θ R ——denotes the angular displacement
and the roller, constraint equations are further completed, and
the exact pitch diameter of the screw is determined. Finally, of the roller about the screw axis,; N s 、 N r 、 N n ——
the motion and static simulations of the PRSM are performed. denote the number of threaded heads of the screw, the roller
The results show that the kinematics model and the pitch
diameter modification method can effectively ensure the stable and the nut, respectively; rs 、 rr 、 rn ——denote the
transmission and assembly process of the standard PRSM. nominal radius of the thread contact circle of the screw, the
Keywords—planetary roller screws, space cross thread roller and the nut, respectively; δ NS ——denotes the axial
meshing, pitch diameter modification, contact point. displacement of the nut relative to the screw.
I. INTRODUCTION The coordinate systems are established as follows: the
The planetary roller screw mechanism (PRSM) is a new inertial coordinate system is σ [o; x, y , z ] , the moving
type of linear motion unit with advantages of large thrust, coordinate system σ s [os ; xs , ys , z s ] , σ r [or ; xr , yr , zr ]
high precision and high efficiency [1]. It is widely used in
and σ [on ; xn , yn , zn ] are fixed to the screw, the roller,
n
aerospace, weaponry, CNC equipment and other fields [2].
In response to the basic design theory of the PRSM, many and the nut, respectively. The relationship between the
researches have been carried out including parameter coordinate systems of the whole mechanism at the initial
relationships [3], internal kinematics [4], transmission position is shown in Fig 1.
performance [5], static or dynamic load distribution [6-9], etc.
Particularly, research results which are published by Steven
A. Velinsky focused on performance analysis and structural
optimization of the PRSM, provide important guidance for
current researchers. However, due to the limitation
development of the PRSM, many basic theories are still not
perfect. The main problems include: (1) The current research
mainly focuses on the performance analysis of frictional
thermal model [10-11], transmission efficiency [5], stiffness
calculation [6] and other performance analysis [12], and
there are few studies on design theory; (2) the unified model
of the precise matching relation of key thread parameters of
the PRSM is not established, so that the rapid and accurate
parametric design could not be realized. Fig.1 Coordinate systems in initial state of the mechanism

II. KINEMATICS ANALYSIS OF THE STANDARD PRSM The directions of the rotation are defined as follows: the
screw and the nut rotate counterclockwise around its own
A. Definition of Parameters and Coordinate Systems axis, and the roller rotates counterclockwise around its axis
The PRSM is mainly composed of the screw, the roller, while planetary rotation counterclockwise around the screw
the nut and other components. And the parameters are axis. The motion relationship of each component on the axis
defined as follows: section is shown in Fig 2.

978-1-7281-3398-0/19/$31.00 ©2019 IEEE

978-1-7281-3398-0/19/$31.00 ©2019 IEEE

 2019 22nd International Conference on Electrical Machines and Systems (ICEMS)

The coordinates of point D in σ are the same as

equation (3). Similarly, the angle of any point C on the
σ n is α n , and the rotation angle of
C
screw line of the nut in
the nut counterclockwise is θ n , then the coordinates of point
C in σ [o; x, y , z ] is:

 x C = rn cos(α nC + θ n )
 C
 y = rn sin(α n + θ n )
C
(4)
 C
 z = ρ nα n + g
C

The transmission mechanism is rotated from the initial

position, the point A on the screw meshes with the point B
Fig.2 Motion diagram of drive component on shaft section on the roller, and the point C on the nut meshes with the
B. Transmission Relationship of the Standard PRSM point D on the roller. According to
The screw is in point contact with the thread surface of x A = x B , y A = y B , z A = z B , it can be obtained as:
the roller, and the connection between points is a helix with
the contact circle radius rs . Assuming that the starting point α rB = −irπ − θ r 　　　　　　　
 (5)
of the screw line is on the positive half axis of the x axis,  f − e = ρ sθ R − ρ sθ s + ρ rθ r + ir ρ rπ
and the angle between the projection point of the arbitrary
point A on the helix line of the plane σ s -oxy and the Where, ir is the unit vector of the screw direction of the
positive direction of the x axis isα , then the coordinate roller, when the roller thread is right handed, ir = +1 ; When
A
s

of the screw point A in σ [os ; xs , ys , z s ] is: it is left-handed, ir = −1 .

s

C D C D C D
 xsA = rs cos α sA Similarly, according to x = x , y = y , z = z ，
 A it can be obtained as:
 ys = rs sin α s
A
(1)
 A  α rD = −θ r 　　　　　　
 z s = ρ sα s
A
 (6)
 f − g = ρ nθ R − ρ nθ n + ρ rθ r
According to the coordinate transformation relationship
between the moving coordinate system σ s and the inertial According to Fig. 1 and Fig. 2, there is no mesh between
coordinate system σ , define the counterclockwise rotation the roller and the screw thread at the initial position.
Therefore, when installing the planetary roller screw
angle of the screw is θ s , then the coordinate of point A in
assembly, the roller should be rotated irπ counterclockwise
the σ [o; x, y , z ] is: relative to the initial position shown in the Fig 2. Thus, in the
process of roller screw drive, the axial displacement of the
 x A = rs cos(α sA + θ s ) roller and the screw, the roller and the nut satisfy the
 A following relations:
 y = rs sin(α s + θ s )
A
(2)
 A  f − e = ρ sθ R − ρ sθ s + ρ rθ r
 z = ρ sα s + e
A
 (7)
Similarly, the line of contact point of the roller and the
 f − g = ρ nθ R − ρ nθ n + ρ rθ r
screw is a helix with the contact circle radius rr . Assuming For the standard PRSM, there is no axial displacement
that the angles of point B and point D on the helix of the between the roller and the nut, that is f − g = 0 ,
roller are α r and α r in coordinate system σ r , the
B D considering the circumferential fixation of the nut, then,
ρr
rotation angle of the roller around its own axis is θ r , while θR = − θ . The screw is fixed axially, e = 0 , thus,
ρn r
the angle around the axis z s is θ R , then the coordinates of
f = f − e = ρ sθ R − ρ sθ s + ρrθ r 。
point B in the inertial coordinate system σ are:
C. Analysis of Sliding Velocity of Contact Points
 x B = rr cos(α rB + θ r + θ R ) + ( rs + rr ) cos θ R In order to determine the matching relationship of the
 B transmission components, it is necessary to establish the
 y = rr sin(α r + θ r + θ R ) + (rs + rr ) sin θ R
B
(3)
velocity model of contact points of the screw, the roller and
 B
 z = ρ rα r + f
B the nut, and analyze the relative sliding velocity.
1）Velocity of Contact Points for the Screw
 2019 22nd International Conference on Electrical Machines and Systems (ICEMS)

When the screw is the driving part, e = 0 , θ n = 0 , take v C 0 = 0

 x
the partial derivatives θs of each variable in formula (2), C0
v y = 0
 (12)
and substitute α = θ R − θ s , and then, the linear velocity of
A

vzC 0 = ρ s ∂θ R − ρ s − ρ n ∂θ R
s
the contact point A can be obtained as:
 ∂θ s ∂θ s
 A ∂x
v x = = −rs sin θ R 4）Relative Slipping Velocity of Contact Points
 ∂θ s
 A ∂y Since the threaded contact points between the screw and
v y = = rs cos θ R (8) the roller, the roller and the nut are purely rolling on the
 ∂θ s contact circle of the shaft section, thus (v y − v y ) ⋅ θ s = 0 ,
B0 A0

 A ∂z
v z = =0 ρn
 ∂θ s substitute θr = − θ and can be obtained:
ρr R
Then, at the initial position, θs = 0 , θR = 0 , and the rs
θR = θs
velocity of the contact point A0 is: ρn (13)
(rr +r )
ρr s
 A0 ∂x
vx = =0
Similarly, according to (v y − v y ) ⋅ θ s = 0 , it can be
D0 C0
 ∂θ s
 A0 ∂y ρr ρn
v y = = rs (9) obtained as: = .
 ∂θ s rr rn
 A0 ∂z In order to ensure that the PRSM's output has a certain
vz = =0
 ∂θ s lead, according to formula (7), let ρ sθ R + ρ rθ r = 0 , then
2）Velocity of Contact Points for the Roller the roller screw output can be expressed as:
f = ρ sθ R − ρ sθ s + ρrθ r = − ρ sθ s .
Take the partial derivatives θ s of each variable in
D. Parameter Relationship of the Standard PRSM
formula (3), and substitute α rB = − irπ − θ r and
Based on the above analysis, considering
α rD = −θ r , and then, the linear velocity of the contact point N s ps N p N p
ρs = , ρ r = r r ,and ρ n = n n , the matching
B0 and point D0 at the initial position can be obtained as: 2π 2π 2π
parameters relationship between the standard PRSM, it can
 B0 ∂θ r ∂θ R ∂θ R be summarized as:
v x = rr ( ∂θ + ∂θ )sin θ R − ( rs + rr ) ∂θ sin θ R = 0 a) The thread pitches of screw, the roller and the nut are
 s s s

 B0 equal, i.e. ps = pr = pn = p ;
∂θ R ∂θ
v y = rs − rr r (10) b) The number of threads of the screw and the nut is
 ∂θ s ∂θ s
equal, i.e. N s = N n ;
 B0 ∂θ R ∂θ
vz = ρ s − ρs + ρr r c) The helix angle of the nut and the roller is equal, i.e.
 ∂θ s ∂θ s ψ n =ψ r ；
d) The nut around the same direction of rotation as the
 D0 ∂θ r ∂θ R ∂θ R
v x = − rr ( ∂θ + ∂θ )sin θ R − ( rs + rr ) ∂θ sin θ R = 0 ρ r rr
 roller, and = .
s s s
ρ n rn
 D0 ∂θ r ∂θ
v y = rr + rn R (11)
 ∂ θ s ∂θ s III. CALCULATION OF THE PITCH DIAMETER
 D0 ∂θ R ∂θ The contact circle radius of the threaded component is an
vz = ρ s − ρs + ρr r important factor affecting the transmission positioning
 ∂θ s ∂θ s accuracy of the PRSM. For the standard PRSM, both the
3）Velocity of Contact Points for the Nut roller and the nut are threaded in the same direction, and the
helix angles are equal, and the roller and the nut are in
Take the partial derivatives θs of each variable in parallel thread contact. Thus, the thread contact point is on
the axial section of the two components. However, the roller
formula (4), and substitute g = f = ρ sθ R − ρ sθ s + ρrθ r and the screw thread have the same rotation direction and
and θ n = 0 , and then, the linear velocity of the contact point different helix angle. Since the roller and the screw are in
contact with the intersecting thread, the thread contact point
C0 at the initial position can be obtained as: is not on the section. In order to ensure the transmission
positioning accuracy and assembly process of the PRSM, it
 2019 22nd International Conference on Electrical Machines and Systems (ICEMS)

is necessary to calculate the exact contact point of the roller Where, R is the radius of the arc of threads, R = 2rr ;
and the screw, and to modify the pitch diameter of the screw.
p p
A. Helicoid and Normal Equation of the Screw rr 2 − ( ) 2 rr 2 + ( ) 2
4 4 ; r is 1/2 of the
Assume that there is a fixed coordinate system ϕ r ∈ [arcsin , arcsin ] r
R R
σ s [os ; xs , ys , z s ] in space, as shown in Fig 3. The pitch diameter of the roller, and p is the pitch.
coordinate formula of a space curve S can be expressed as:
 x0 s = r cos β s

 y0 s = 0 (14)

 z0 s = r sin β s
Where, r is the parameter, p is half of the pitch diameter
p p
of the screw, r ∈ [( rs − ) / cos β s , ( rs + ) / cos β s ] , and
4 4
β s is half of the thread angle.
Let the curve S rotate at a constant speed around the zs Fig. 4 Coordinate system of the roller helicoid
axis while moving at a constant speed along the zs axis.
Let the curve R rotate at a constant speed around the zr
Then, the track surface formed by the curve S is the
axis while moving at a constant speed along the zr axis.
helicoid of the screw, and the curve S is the bus of the
surface. The helicoid equation can be expressed as: Then, the track surface formed by the curve R is the helicoid
of the roller, and the curve R is the bus of the surface. The
 xs = x0 s cos θ s − y0 s sin θ s = r cos β s cos θ s helicoid equation can be expressed as:

 ys = x0 s sin θ s + y0 s cos θ s = r cos β s sin θ s (15)  xr = x0 r cos θ r − y0 r sin θ r = R cos ϕ r cos θ r

 z s = z0 s + ρ s θ s = r sin β s + ρ s θ s 
 yr = x0 r sin θ r + y0 r cos θ r = R cos ϕ r sin θ r (18)
According to equation (15), there are two parametric 
variables r and θ s in equation (15). The normal vector ns  zr = z0 r + ρ r θ r = R sin ϕ r + ρ r θ r
at any point A ( xs , y s , zs ) on the surface is: The normal vector nr at any point B ( xr , yr , zr ) is:
∂S ∂S
ns = × = nxs i + n ys j + nzs k (16) ∂R ∂R
∂r ∂θ s nr = ×
∂ϕ r ∂θ r
B. Helicoid and Normal Equation of the Roller
C. Calculation of the Actual Pitch Diameter
Assume that there is a fixed coordinate system
The coordinate system of the screw and the roller in Fig.
σ [or ; xr , yr , zr ] in space, as shown in Fig 4. The
r
5 is the same as that of Fig. 1, and it is assumed that the
coordinate formula of a space curve R can be expressed as: distance between the coordinate origin Or and the coordinate
origin O along the x -axis is d , and the distance along the
y-axis is h . At this point, the equation for the helical surface
of the screw can be obtained as:

Fig. 3 Coordinate system of the screw helicoid

 x0 r = R cos ϕ r

 y0 r = 0 (17)
Fig. 5 The helicoid between the screw and the roller

 z0 r = R sin ϕ r
 2019 22nd International Conference on Electrical Machines and Systems (ICEMS)

TABLE I. BASIC THREAD PARAMETERS OF THE PRSM

 xs = r cos β s cos θ s
 pitch pitch of number thread
shape of
 ys = r cos β s sin θ s (19) diameter
(mm)
threads
(mm)
of
threads
angle
(°)
threads

 z s = r sin β s + ρ s θ s screw 19.5 1 5 90 triangle
According to equations (15), (16) and (19), the normal roller 6.5 1 1 90 convex-arc
equation of any point on the screw thread surface is:
nut 32.5 1 5 90 triangle
 nxs = ρ s cos β s sin θ s − r sin β s cos β s cos θ s
 The structural design of the PRSM is carried, as shown in
 n ys = − ρ s cos β s cos θ s − r sin β s cos β s sin θ s (20) Fig. 6. The lead is 5 mm, and the number of the roller
 uniformly distributed around the screw is 10.
 nzs = r (cos β s )
2

Similarly, the thread surface equation of the roller is:

 xr = R cos ϕ r cos θ r + d

 yr = R cos ϕ r sin θ r (21)

 zr = R sin ϕ r + ρ r θ r + h
The normal equation of any point on the roller thread Fig. 6 CAD model of the standard PRSM
surface is: B. Pitch Diameter Modification of the Screw
 nxr = − ρ r R sin ϕ r sin θ r − ( R cos ϕ r cos θ r +d ) R cos ϕ r In order to ensure the transmission positioning accuracy
 and assembly process of the PRSM, it is necessary to
calculate the thread contact point between the roller and the
 n yr = ρ r R sin ϕ r cos θ r − ( R cos ϕ r ) sin θ r
2

 screw. When d s =19.468mm, the calculation error reaches

 nzr = − ( R cos ϕ r + d ) R sin ϕ r 1e-3, and the iteration is terminated. Then, the diameter of
(22) the screw is taken as the final processing dimension.
According to the normal parallel constraint relationship Accordingly, the model error is listed as follows:
between point A and B on the roller, there exists: nys nzr − nzs nyr = 0.003988631228224
    
ns × nr = (nys nzr − nzs nyr )i − (nxs nzr − nzs nxr ) j nxs nzr − nzs nxr = 0.004206764699163
 n n − n n = 0.00418726286882
+ (nxs nyr − nys nxr ) j = 0 (23)  xs yr ys xr

In addition, it is assumed that any point A ( xs , y s , zs ) V. MOTION SIMULATION AND VERIFICATION

on the thread surface of the screw is in contact with the point A. Simulation and Analysis of the Transmission
B ( xr , yr , zr ) on the surface of the roller, and they have the According to the above analysis, there is a certain
same position coordinate. It can be obtained as: functional relationship between the moving speed and
displacement of the nut and the driving motion of the screw,
 r cos β s cos θ s =R cos ϕ r cos θ r + d
 δ RS = − ρ sθ s and vn = − ρ sωs . And the kinematics
 r cos β s sin θ s =R cos ϕ r sin θ r （24） simulation is carried out using the software ADAMS.

 r sin β s + ρ s θ s =R sin ϕ r + ρ r θ r + h Assuming that the driving speed of the screw is -
1500r/min, the axial displacement curve of the nut can be
According to equations (23) and (24), both variables θs obtained as shown in Fig. 7. It can be seen that the
displacement of the nut increases linearly with the rotation
and θrcan be expressed as functions of the parameter d , time of the screw, and the curve is smooth with small
and then the exact value of d can be solved by binary search fluctuation, which indicates that the PRSM has a definite
method. Through the above method, the accurate value of the output performance.
modified pitch diameter that the screw needs to be machined
can be obtained to ensure the transmission and positioning
accuracy of the standard PRSM.
IV. PARAMETERS DESIGN OF THE STANDARD PRSM
A. Design of Basic Thread Parameters
According to the kinematic model of the standard PRSM
mentioned above, the basic thread parameters of the screw, Fig. 7 Axial displacement of the nut
the roller and the nut are designed, and the specific results
are shown in TABLE I.
 2019 22nd International Conference on Electrical Machines and Systems (ICEMS)

According to the simulation results, it can be seen that very small. The simulation results show that the interference
the axial movement speed of the nut is basically consistent amount of the PRSM thread components is approximately
with the calculated results of the kinematics equation equal to 0, that is, the contact point is calculated accurately,
established, which verifies the correctness of the and the design results of key thread parameters are correct.
mathematical model. The results indicate that the PRSM has
a certain output lead, and the correctness of the theory is VI. CONCLUSIONS
further verified. The kinematics model and the pitch diameter
B. Simulation analysis of contact state modification of the standard PRSM are completed. The
kinematics model of the PRSM is established, and the
The PRSM bears the load through the thread contact, and matching relationship of the screw, the roller and the nut
its components squeeze or stretch each other to deform the parameters is revealed, and the design criterion of the
thread tooth in the contact area. In this section, simulation of standard PRSM is established. On this basis, the accurate
the thread contact state under small loads is completed using pitch diameter of the screw is determined by iteration
the ANSYS software in order to verify the accuracy of the methods. Finally, one type of standard PRSM is designed,
pitch diameter modification of the screw. and the motion and static simulation analysis are carried out
The screw pair is structurally symmetric in the by ADAMS and ANSYS software. The results show that the
circumferential direction, and the static simulation analysis is kinematics model and the pitch diameter modification
carried out by using the 1/10 equivalent model. In order to method can effectively ensure the stable transmission and
check whether there is interference between the roller and the assembly process of the standard PRSM.
screw, the threaded contact between the roller and the nut,
ACKNOWLEDGMENT
the load of the 1/10 model is set to 0.1N, and the load and
constraint are set as shown in Fig. 8. By applying 0.1 N force This work was supported by National Natural Science
to the end face of the nut away from the fixed end, and the Foundation of China under project 51777013 and 61603051.
mesh size is 0.5mm. Under the condition of the axial load of
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