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Kinematics of Planetary Roller Screw Mechanism considering Helical

Directions of Screw and Roller Threads

Article  in  Mathematical Problems in Engineering · August 2015

DOI: 10.1155/2015/459462

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Mathematical Problems in Engineering
Volume 2015, Article ID 459462, 11 pages
http://dx.doi.org/10.1155/2015/459462

Research Article
Kinematics of Planetary Roller Screw Mechanism considering
Helical Directions of Screw and Roller Threads

Shangjun Ma,1 Tao Zhang,1,2 Geng Liu,1 Ruiting Tong,1 and Xiaojun Fu1
1
Shaanxi Engineering Laboratory for Transmissions and Controls, Northwestern Polytechnical University, Xi’an 710072, China
2
CALTR&D Center, China Academy of Launch Vehicle Technology, Beijing 100076, China

Correspondence should be addressed to Shangjun Ma; [email protected]

Received 12 April 2015; Accepted 5 August 2015

Academic Editor: Francesco Braghin

Copyright © 2015 Shangjun Ma et al. This is an open access article distributed under the Creative Commons Attribution License,
which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Based on the differential principle of thread transmission, an analytical model considering helical directions between screw and
roller threads in planetary roller screw mechanism (PRSM) is presented in this work. The model is critical for the design of PRSM
with a smaller lead and a bigger pitch to realize a higher transmission accuracy. The kinematic principle of planetary transmission is
employed to analyze the PRSM with different screw thread and roller thread directions. In order to investigate the differences with
different screw thread and roller thread directions, the numerical model is developed by using the software Adams to validate the
analytical solutions calculated by the presented model. The results indicate, when the helical direction of screw thread is identical
with the direction of roller thread, that the lead of PRSM is unaffected regardless of whether sliding between screw and rollers
occurs or not. Only when the direction of screw thread is reverse to the direction of roller thread, the design of PRSM with a
smaller lead can be realized under a bigger pitch. The presented models and numerical simulation method can be used to research
the transmission accuracy of PRSM.

1. Introduction the rotation of screw have been analyzed for investigating

the slip phenomenon. Velinsky et al. [10] applied the con-
Planetary roller screw mechanism (PRSM) is used in vari- cept of orbital mechanics to study the kinematics and the
ous motion-delivery devices where power is transmitted by efficiency of PRSM. They have found that although slip has
converting rotary motion to linear motion. The main compo- to occur between the rollers and the screw in the PRSM,
nents of PRSM are the nut, the screw, and the rollers, and the the overall lead of the mechanism is independent of such
key components for transmission are the rollers. Compared slip. Sokolov et al. [11] developed the principles to evaluate
to ball screw mechanism, PRSM has higher precision, higher the wear resistance of the PRSM. Jones and Velinsky [12]
speed, heavier load, and longer life, though the manufacture built a kinematic model to predict the axial migration of the
cost of PRSM is relatively high due to its complex structure. rollers with respect to the nut in the PRSM. It is announced
As such, the PRSM finds its applications as an actuator device that roller migration is due to slip at the nut side, which is
in various machineries, such as machine tool [1], medical caused by a pitch mismatching between the spur-ring gear
equipment [2], port equipment of ship [3], and flight control and effective nut-roller helical gear pair. The results indicate
equipment of more-electric aircraft [4, 5]. that the roller migration does not affect the overall lead of
The published research on the PRSM has been mainly the PRSM. Furthermore, they have applied the principle of
dedicated in the following areas: efficiency and failure modes conjugate surfaces to the contact kinematical modeling at
study [6]; dynamic load testing [7]; wet and dry lubrications the screw-roller and nut-roller interfaces [13]. It was shown
under oscillatory motion [8]. Besides, Hojjat and Mahdi that the contact point cannot locate on the bodies’ line of
[9] analyzed the capabilities and limitations of PRSM and centers at the screw side. Considering the curved profile of
proved that large leads and extremely small leads can be easily roller thread, the equations for calculating contact radii of
obtained in PRSM. The forces acting on the rollers during the roller, screw, and nut bodies have also been derived.
2 Mathematical Problems in Engineering

Recently, Jones et al. [14] constructed a stiffness model of the Roller gear Ring gear
Roller
roller screw mechanism with the direct stiffness method. In Nut
addition to the prediction of the overall stiffness of the mech-
anism, the load distributions across the threads of individual
Screw
bodies were also calculated. Ryś and Lisowski [15] presented
the computational model for predicting the load distribution
between the elements in PRSM based on the deformations of
rolling elements as the deformations of rectangular volumes
subjected to shear stresses. The contact deformations of
threads and the deformations of screw and nut cores were
considered by introducing a properly chosen shear modulus.
However, there is no comprehensive kinematics model that Y
can apply differential principles to the design or estimate the Planetary carrier
Z Spring ring
lead of PRSM, when the helical directions between the screw X
thread and the roller thread are considered.
To address the aforementioned problems and facilitate the Figure 1: Configuration of PRSM.
PRSM design, a kinematic model and a comprehensive study
on the helical directions between screw thread and roller Roller
thread based on differential principle of thread transmission
are developed in this work. The mechanical structure of
Nut
PRSM is introduced, followed by the motion analysis and
computational modeling of the lead. Then, kinematics sim- Planetary carrier
ulations of the PRSM are performed to validate the motion
analysis which considers the helical directions between the
screw thread and the roller screw. Finally, the models are
examined in detail to explicitly show the relationships of
the helical directions and the lead of the PRSM in the force
analysis.
Screw
2. Analytical Modeling
2.1. Mechanical Structure. Figure 1 shows a transmission
mechanism of PRSM. The rotary motion of the screw shaft
is converted into an axial force through the operation of the
rollers and the nut on the shaft. The efficiency of such process Figure 2: Kinematic principle of PRSM.
is much greater than that of a conventional threaded shaft-nut
mechanism because of the introduction of the rollers which
are in rolling contacts with both the screw and the nut instead
of sliding contacts in the conventional mechanism. There is carriers float relative to the nut, axially secured by the spring
no relative axial movement between the nut and the rollers rings which aligned with an axial groove in the wall of the nut.
since the helix angle of the roller is the same as that of the
nut. Therefore, the rollers and the nut are able to move axially 2.2. Motion Analysis
with respect to the rotating screw shaft. At the same time, the
rollers and the nut remain in constant rolling contact. 2.2.1. Angular Motion Analysis of Components. Based on the
The roller possesses a single start thread and two spur principle of a planetary gear train, the kinematic principle
gears at each end of the roller and ring gears fixed at each end of PRSM is shown in Figure 2, and the angular motions
of the nut. The rollers roll around the inside of the nut as the of components in PRSM are described in Figure 3 which
screw turns, and one revolution of the screw causes the nut represents the axial view of the PRSM.
to advance one lead regardless of rolling or slipping between According to the relationships of the movements and
the components. The grooves on the nut and screw are helical assuming no slip between the screw and the rollers, the linear
with multistart. In order to ensure that the rollers do not velocity of contact point 𝐵 between the roller and the screw is
become skewed or driven out of axial alignment between the defined as V𝐵 in Figure 3. Since the rotational direction of nut
screw and the nut, a planetary carrier and a gear pair are is prohibited, the linear velocity of contact point 𝐴 between
provided. The planetary carrier is located under each pivot the roller and the nut is zero. The linear and orbital speeds of
end of the rollers and keeps the rollers spaced apart circum- the roller center point 𝑂 are V𝑜 = V𝐵 /2 and 𝜔𝑚 , respectively.
ferentially around the screw. A gear pair includes a ring gear The linear speed of the roller center can be further expressed
and spur gear on the roller. The ring gears time the spinning as V𝑜 = V𝐵 /2 = 𝜔𝑠 𝑑𝑠 /4, where 𝜔𝑠 and 𝑑𝑠 are the angular
and orbit of the rollers about the screw axis by meshing gear velocity and effective diameter of the screw, respectively. On
teeth near the ends of the rollers. At the same, the planetary the other hand, V𝑜 can also be shown as V𝑜 = 𝜔𝑚 𝑑𝑚 /2,
Mathematical Problems in Engineering 3

dr The relationships of helix angles of the screw, the roller,

A and the nut in terms of pitch, starts, and effective diameters
𝜔r are given in the following [10]:
O o
𝜔n
B 𝑛𝑠 𝑝
tan 𝜆 𝑠 = ,
B 𝜋𝑑𝑠
𝜑m 𝑛𝑟 𝑝
tan 𝜆 𝑟 = , (5)
𝜑nm 𝜔H 𝜔m 𝜋𝑑𝑟
𝜔s 𝑛𝑛 𝑝
tan 𝜆 𝑛 = ,
𝜑slide
D
𝜋𝑑𝑛
dm
C E where 𝜆 𝑠 , 𝜆 𝑟 , and 𝜆 𝑛 are the helix angles of the screw, the
roller, and the nut, respectively. 𝑛𝑠 , 𝑛𝑟 , and 𝑛𝑛 are the start of
ds the screw, the roller, and the nut, respectively. 𝑝 is the pitch.
The helix angles of the roller and the nut are equal, that
F
dn is, 𝜆 𝑟 = 𝜆 𝑛 and combining 𝑛𝑠 = 𝜔𝑟 /𝜔𝑚 = 𝑑𝑛 /𝑑𝑟 and 𝑑𝑠 /𝑑𝑟 =
𝑧𝑛 /𝑧𝑟 − 2 = 𝑛𝑠 − 2 = 𝑛𝑛 − 2, where 𝑧𝑛 is the tooth number
Figure 3: Axial view of PRSM. of ring gears and 𝑧𝑟 is the tooth number of gears near the
ends of rollers, respectively. The relationship can be obtained
as follows:
where 𝑑𝑚 denotes orbital diameter of roller. Accordingly, the
𝑑𝑠 = (𝑛𝑠 − 2) 𝑑𝑟 . (6)
relationship between the orbital speed of center point 𝑂, 𝜔𝑚 ,
and angular velocity of screw 𝜔𝑠 can be written as Equation (6) is utilized to calculate the starts if 𝑑𝑠 and 𝑑𝑟
are given. On the other hand, the starts of the screw have to be
𝑑𝑠 𝑑𝑠 𝑘 more than or equal to 3; that is, 𝑛𝑠 = 𝑛𝑛 ≥ 3. Considering the
𝜔𝑚 = 𝜔 = 𝜔 = 𝜔, (1)
2𝑑𝑚 𝑠 2 (𝑑𝑠 + 𝑑𝑟 ) 𝑠 2 (𝑘 + 1) 𝑠 angular motion of the PRSM is quite similar to the motion of
a planetary gear train, the relationships between the angular
where 𝑘 = 𝑑𝑠 /𝑑𝑟 . velocities can be shown as follows:
Then the nut is fixed in the rotational direction, assuming 𝜔𝑠 − 𝜔𝑝1 𝑑𝑟
that a roller travels from an initial point 𝐴 to a final point =− ,
𝜔𝑟 − 𝜔𝑝1 𝑑𝑠
𝐹 with one revolution of the screw. To analyze the angular (7)
motion of the components, 𝜑𝑚 and 𝜑𝑟 (not shown in Figure 3) 𝜔𝑠 − 𝜔𝑝2 𝑑 𝑧
are defined as orbital angle and rotational angle of the roller = − 𝑟 𝑛,
𝜔𝑛 − 𝜔𝑝2 𝑑𝑠 𝑧𝑟
and 𝜑𝑛𝑚 denotes the angular arc of contact of screw with
roller. The pure sliding angle 𝜑slide must be zero; therefore, where 𝜔𝑝1 , 𝜔𝑝2 are the angular velocities of the planetary
the angular arc of contact of roller equals the angular arc of carriers on the left side and right side, respectively. The
󵱰 that is,
contact of nut, 𝐴𝐸; transmission ratio between the screw and the roller is defined
as 𝑖𝑠𝑟 and that between the roller and the nut is 𝑖𝑛𝑟 .
𝜑𝑟 𝑑𝑟 𝜑𝑚 𝑑𝑛 In order to ensure pure rolling of the rollers inside the nut,
= , (2) the angular velocity of the planetary carrier on the left side
2 2
must be equal to that on the right side, which can be written as
where 𝑑𝑟 and 𝑑𝑛 are the effective diameter of the roller and 𝜔𝑝1 = 𝜔𝑝2 = 𝜔𝐻. (8)
the nut, respectively.
Considering the relationships between the effective diam- The transmission ratios of components are shown as
eters of the screw and the roller and between the roller and the
nut, (2) can be rewritten as 𝜔𝑟 − 𝜔𝐻 𝑑
𝑖𝑠𝑟 = = − 𝑠,
𝜔𝑠 − 𝜔𝐻 𝑑𝑟
𝜑𝑟 𝑑 𝑑 + 2𝑑𝑟 (9)
= 𝑛 = 𝑠 = 𝑘 + 2. (3) 𝜔 − 𝜔𝐻 𝑑
𝜑𝑚 𝑑𝑟 𝑑𝑟 𝑖𝑛𝑟 = 𝑛 =− 𝑠.
𝜔𝑠 − 𝜔𝐻 𝑑𝑛
Combining (1) and (3) and using the relationship 𝜑𝑟 /𝜑𝑚 = Utilizing the relationship for the starts of nut, that is, 𝑛𝑛 =
𝜔𝑟 /𝜔𝑚 , the rotational speed of the roller 𝜔𝑟 can be given as (𝑑𝑠 + 2𝑑𝑟 )/𝑑𝑟 = 𝑑𝑛 /𝑑𝑟 , and (9), it yields

𝑘 (𝑘 + 2) 𝑑𝑠 𝑛 −2
𝜔𝑟 = 𝜔. (4) 𝜔𝐻 = 𝜔 = 𝑠 𝜔. (10)
2 (𝑘 + 1) 𝑠 𝑑𝑠 + 𝑑𝑛 𝑠 2𝑛𝑠 − 2 𝑠
4 Mathematical Problems in Engineering

The relationships of angular velocities between the screw, Substituting (14) and (15) into (13), it can be rearranged as
the roller, and the planetary carrier are described as
𝜑𝑟 𝜑
𝐿1 = 𝑝 ∓ 𝑚 𝑛𝑛 𝑝. (16)
𝑑 𝑛𝜔 2𝜋 2𝜋
𝜔𝑠 − 𝜔𝐻 = 𝑛 𝜔𝐻 = 𝑠 𝑠 , (11)
𝑑𝑠 2𝑛𝑠 − 2
It is well known, in the PRSM, that there is no relative axial
𝑑𝑠 −𝑛 + 2𝑛𝑠 2 displacement between the nut and the roller; that is, 𝐿 1 = 0.
𝜔𝑟 − 𝜔𝐻 = − (𝜔 − 𝜔𝐻) = 𝑠 𝜔. (12) Therefore, symbol “−” should be chosen in (16); on the other
𝑑𝑟 𝑠 2𝑛𝑠 − 2 𝑠
hand, the helical directions should be identical between the
roller and the nut. Substituting (3) into (16) yields
2.2.2. Helical Direction and Parameter Relationships on Nut
Side. As aforementioned, the roller rolls on the inner surface 𝑛𝑛 = 𝑘 + 2. (17)
of the nut. The helix angles of the two components are identi-
cal. The roller gear meshes with the ring gear. No slip between
2.2.3. Helical Direction and Parameter Relationships on Screw
the roller and the nut is allowed; however, there is always slip
Side. Considering the slip between the screw and the roller,
between the screw and the roller in the axial direction [10].
similarly, the angular motions of the PRSM can be decom-
Accordingly, for the case with roller-screw slip, the angular
posed into two components which are the motion without
motion of the components can be decomposed into two com-
slip and motion with pure sliding [10]. Therefore, the axial
ponents, that is, the relative motion without rotational slip
displacement of the roller relative to the screw, 𝐿 2 , is the sum
and the relative motion with pure rotational slip. As shown in
of two components, that is, pure rolling which is generated
󵱰 denotes the angular arc on the surface of the nut
Figure 3, 𝐴𝐹 󵱰 and pure sliding on arc 𝐷𝐶.
on arc 𝐵𝐷 󵱰 Define 𝐿 2𝑟 and 𝐿 2𝑠 ∗
that is in contact with the roller within one revolution of the
󵱰 denotes the angular arc on the surface of the screw as the axial displacement components of the roller mentioned
screw. 𝐵𝐷
above, respectively. That is,
that is in contact with the roller assuming that no slip occurs
between the screw and the roller. 𝐷𝐶 󵱰 denotes the angular arc 𝐿 2 = 𝐿 2𝑟 + 𝐿 2𝑠 ∗ , (18)
of pure sliding motion between the screw and the roller.
Because the roller and the nut have different leads and where
effective diameters, we assume that the axial displacement of 𝜑𝑟
roller relative to nut, 𝐿 1 , can be decomposed into two com- 𝐿 2𝑟 = 𝐿 1𝑟 = 𝑝, (19)
ponents: the axial displacement of a rotationally constrained 2𝜋
roller relative to a rotating screw 𝐿 1𝑟 and the axial movement 𝐿 2𝑠 ∗ = −𝐿 2𝑠 , (20)
of a rotating roller relative to a fixed nut 𝐿 1𝑐 . The simple
relationship yields where 𝐿 2𝑠 is the axial displacement of screw relative to roller.
𝐿 2𝑠 is influenced by angular arc of contact of screw with roller
𝐿 1 = 𝐿 1𝑟 + 𝐿 1𝑐 . (13) 𝜑𝑛𝑚 , pure sliding angle 𝜑slide , and lead of the screw 𝑛𝑠 𝑝, where
Based on the relative movement of the components, 𝐿 1𝑐 𝑛𝑠 denotes the starts of the screw. The axial displacement of
is equal to axial displacement of the nut 𝐿 1𝑛 in which it is screw relative to the roller is expressed as
hypothesized that the nut rotates an angle 𝜑𝑚 with angular 𝜑𝑛𝑚 + 𝜑slide
󵱰 but the direction of 𝐿 1𝑐 is reversed to
velocity 𝜔𝑛 , that is, 𝐴𝐸, 𝐿 2𝑠 = ∓ 𝑛𝑠 𝑝, (21)
2𝜋
𝐿 1𝑛 ; that is,
where the negative sign denotes that the helical directions
𝐿 1𝑐 = −𝐿 1𝑛 . (14) of the screw and the roller are identical and positive sign
indicates that the helical directions of the screw and the roller
As discussed above, the 𝐿 1𝑛 is influenced by the angle 𝜑𝑚 are reversed.
and the lead of the nut 𝑛𝑛 𝑝, where 𝑛𝑛 and 𝑝 are the starts and Based on the geometry relationship, as shown in Figure 3,
pitch of the nut, respectively. Similarly, the axial displacement one may get
of the roller relative to the nut, 𝐿 1𝑟 , is influenced by the
rotational angle of the roller 𝜑𝑟 and the lead of the roller 𝑛𝑟 𝑝, 𝜑𝑛𝑚 + 𝜑slide + 𝜑𝑚 = 2𝜋. (22)
where 𝑛𝑟 is equal to one. Therefore, axial displacements 𝐿 1𝑟
and 𝐿 1𝑛 can be written as Substituting (19), (21), and (22) into (18), and assuming
𝜑𝑟 that the pure sliding angle is equal to zero, the axial displace-
𝐿 1𝑟 = 𝑝 ment of the roller relative to the screw can be represented as
2𝜋
(15) 𝜑𝑟 𝜑
𝜑
𝐿 1𝑛 = ± 𝑚 𝑛𝑛 𝑝, 𝐿2 = 𝑝 ∓ 𝑚 𝑛𝑠 𝑝 ± 𝑛𝑠 𝑝. (23)
2𝜋 2𝜋 2𝜋
where the negative sign indicates that the helical directions While the relative sliding occurs between the roller and
are identical between the roller and the nut and positive sign the screw for one revolution of the screw, the pure sliding
denotes that the helical directions are reversed between the angle, 𝜑slide , is a variable, and 𝜑𝑐 and 𝜑𝑟 are also the variables
roller and the nut. in (3) and (23). Therefore, the axial displacement of the roller
Mathematical Problems in Engineering 5

relative to the screw will generate a higher fluctuation during 2.3.2. Reverse Helical Directions of the Screw Thread and the
the screw rotation. Assuming there is no slip between the Roller Thread. For the case in which the helical direction of
screw and the rollers in the rotational direction or in order the screw thread is reversed to that of the roller thread, the
to avoid pure sliding phenomenon, the first two terms in (23) lead of the PRSM can be expressed as
have to be zeroes, so the negative sign should be used; that is, 𝜔𝑟 𝜔𝐻
𝐿 0 = 𝑝 [𝑛𝑠 − − (𝑛 + 1)] . (29)
𝜑𝑟 𝜑 𝜔𝑠 𝜔𝑠 𝑠
𝑝 − 𝑚 𝑛𝑠 𝑝 = 0,
2𝜋 2𝜋 (24) Similarly, substituting (4), (6), and (10) into (29), the lead
𝐿 2 = ±𝑛𝑠 𝑝, of PRSM, 𝐿 0 , can be represented as
𝑛𝑝
𝐿0 = 𝑠 . (30)
where the positive sign denotes that the helical directions of 𝑛𝑠 − 1
the screw and the roller are identical and the negative sign
Also, the lead of PRSM is only determined by the starts
indicates that the helical directions of the screw and the roller
and the pitch of the screw. Only when the helical direction of
are reversed.
screw thread is reversed to the helical direction of the roller
Because there is no relative axial movement between the
thread can the design of a bigger pitch and a smaller lead be
nut and the rollers, the axial displacement of the roller relative
realized with the same parameters of the starts and the pitch.
to the screw is equal to the axial displacement of the nut, 𝐿 𝑛 .
As indicated by (28) and (30), regardless of whether slip
In other words, the lead 𝑛𝑠 𝑝 can be expressed as a function of
occurs between the screw and the roller or not, the lead of
the axial displacement of the nut. Thus, it is stated as
the PRSM is a constant due to the fact that the lead of the
𝜔𝑠 𝑡 screw is not changed. If the slip occurs, however, the sliding
𝐿𝑛 = 𝑛 𝑝, (25) of rollers can cause undesirable moments and heat due to
2𝜋 𝑠
friction. The frictional heat is directly related to efficiency
where 𝑡 denotes the operating time of the screw. and energy loss in the PRSM, and the high temperature from
Furthermore, the axial speed of the nut is calculated by the heat will cause deterioration of lubrication and eventually
differentiating the displacement of the nut with respect to leads to mechanical failure of the PRSM.
time, as shown in the following: The leads of the PRSM can be calculated by using (28) and
(30). For example, when the starts and the pitch of the screw
𝑑𝐿 𝑛 𝜔 are 5 and 0.5 mm, the leads of identical helical directions
V𝑛 = = 𝑠 𝑛𝑠 𝑝. (26) of the screw thread and the roller thread case and that of
𝑑𝑡 2𝜋
the reverse case are 2.5 mm and 0.625 mm, respectively. The
2.3. Lead of PRSM considering Helical Directions of the Screw former is four times the latter. Obviously, in order to obtain
Thread and the Roller Thread. Based on the analyses of higher transmission accuracy, the reverse helical direction
Section 2.2, it is known that the helical direction of the roller can be applied in the practical PRSM structure. If a smaller
thread must be identical with the helical direction of the pitch especially can be obtained in machining, then the
nut thread, and the helical direction of the screw thread is smallest lead of the PRSM can be further realized. Therefore,
identical with or reversed to the helical direction of the roller a higher transmission accuracy can be obtained if the reverse
thread. Therefore, the following research is focused on lead of helical directions of the screw thread and the roller thread are
PRSM considering helical directions of the screw thread and applied to the PRSM.
the roller thread. Furthermore, the PRSM is an accuracy transmission
which achieves the smallest lead by introduction of thread
directions; however, compared to the conventional ball screw,
2.3.1. Identical Helical Directions of the Screw Thread and
the small lead is extremely difficult to reach due to the
Roller Thread. For the case in which the helical direction of
requirements of carrying capacity and transmission accuracy
screw thread is identical with that of roller thread, the lead of
and the design difficulty of the return tube.
the PRSM can be written as
𝜔𝑟 𝜔𝐻 3. Numerical Modeling of PRSM
𝐿 0 = 𝑝 [𝑛𝑠 − − (𝑛 − 1)] , (27)
𝜔𝑠 𝜔𝑠 𝑠
3.1. Kinematics Model of PRSM. A model of kinematics
where 𝐿 0 denotes the lead of the PRSM. simulation (as shown in Figure 4) of PRSM is developed with
Substituting (4), (6), and (10) into (27), the lead of PRSM, a software MSC.Adams with an original CAD geometry of
𝐿 0 , can be represented as PRSM converted from Solidworks software. The parameters
of thread pair and gear pair are shown in Tables 1 and 2.
𝐿 0 = 𝑛𝑠 𝑝. (28)
3.2. Constraints
Equation (28) indicates that the lead of PRSM is equal to
the lead of the screw or the lead of the nut, which means that 3.2.1. Displacement Constraints. Assume that all rollers have
the lead of PRSM is only determined by the starts and the identical movements in the PRSM, and the steady state
pitch of the screw or the nut. motion of the screw is considered in this paper.
6 Mathematical Problems in Engineering

The stiffness coefficient is set as 𝐾 = 1.0 × 105 N/mm,

rigidity index is 1.5, damping coefficient is 50 N⋅s/mm, and
depth of penetration is 0.1 mm. The coulomb friction force is
considered in this model for describing the real contact state,
where the static friction coefficient is 𝜇𝑠 = 0.3; the dynamic
friction coefficient is 𝜇𝑑 = 0.25; the static slip velocity is V𝑠 =
0.1 mm/s; the dynamic slip velocity is V𝑑 = 10 mm/s; elastic
modulus is 2.1 × 109 Pa; Poisson’s ratio is 0.3; density is 7.8 ×
103 kg/m3 ; and axial force applied on the nut center of mass is
10 kN in a direction reversed to its movement. The constant
revolution speed of screw is 720∘ /s; that is, 𝜔𝑠 = 12.5664 rad/s;
simulation time is set to 1.0 s.
Figure 4: The numerical model of PRSM.
4. Results and Discussions
Table 1: Parameters of thread pair.
4.1. Identical Helical Directions of Screw Thread and Roller
Parameter name Symbol Unit Value Thread. When the helical direction is identical between the
Effective diameter of screw 𝑑𝑠 mm 39 screw thread and the roller thread, the relationships of helical
Starts 𝑛𝑠 = 𝑛𝑛 5 direction in PRSM are as follows: screw is right-hand, roller is
Pitch 𝑝 mm 5 right-hand, and nut is right-hand. The simulation results are
shown in Figures 6–9.
Effective diameter of roller 𝑑𝑟 mm 13
As Figure 6 shows, the displacement curve of the nut is
Effective diameter of nut 𝑑𝑛 mm 65
nearly a straight line due to the synchronized roller rotations
since all rollers are connected together by the planetary
Table 2: Parameters of gear pair. carrier and the precise mesh between the roller gear and the
ring gear.
Parameter name Symbol Unit Value
Figure 7 exhibits the averaged angular velocity of the
Module 𝑚 mm 1 roller which is 1037.9664∘ /s, that is, 18.1159 rad/s, which is the
Tooth number of roller gear 𝑧𝑟 13 resultant of spinning angular velocity and revolution angular
Tooth number of ring gear 𝑧𝑛 65 velocity.
∘
Pressure angle 𝛼𝑛 20 The averaged angular velocity of the planet carrier is
Addendum coefficient ℎ𝑎 ∗ 0.8 260.6253∘ /s, that is, 4.5488 rad/s, as is demonstrated in
Clearance coefficient 𝑐∗ 0.3 Figure 8. Based on the relative movement between the roller
Modification coefficients 𝑥𝑛 0 and the planet carrier, spinning angular velocity of the roller
Tooth width of roller gear 𝑏1 mm 10 can be approached; that is, 𝜔𝑟 = 18.1159 rad/s + 4.5488 rad/s =
Tooth width of ring gear 𝑏2 mm 10 22.6647 rad/s.
As shown in Figure 9, the averaged axial speed of the
nut is 49.7138 mm/s. Comparisons of analytical solutions with
Based on the relative movement shown in Figure 1, the simulation results are shown in Table 3.
displacement constraints applied to the PRSM are as follows:
(1) the moving joint is enforced between the nut and the 4.2. Reversed Helical Directions of Screw Thread and Roller
frame, which means only axial translation of the nut is Thread. When the helical direction of the screw thread is
reserved; (2) rotating joint is imposed between the screw reversed to that of the roller thread, the relationships of helical
and the frame, which only allows rotation of the screw; (3) direction in PRSM are as follows: screw is right-hand, roller
the rollers may spin and revolute; therefore, rotating joints is left-hand, and nut is left-hand. The simulation results are
are applied between planet carriers and rollers; (4) column shown in Figures 10–13.
joint is introduced between the planet carriers and the frame, Compared to Figure 6, a very analogous trend of axial
because the planet carriers have both revolution and axial displacement of the nut can be obtained, as shown in
translation. The connection relationships of components are Figure 10. Figures 11 and 12 showed that the averaged angular
shown in Figure 5 in detail. velocity of roller is 1090.6219∘ /s, that is, 19.0349 rad/s, and the
averaged angular velocity of planet carrier is 272.8972∘ /s, that
3.2.2. Load Constraints. In order to realize the kinematic is, 4.7630 rad/s, respectively. Based on the relative movement
transmission, the load constraints in the kinematics model between the roller and the planet carrier, spinning angular
are as follows: contact interactions are applied at the inter- velocity of the roller can be calculated as 𝜔𝑟 = 19.0349 rad/s +
faces between the screw and the rollers and those between the 4.7630 rad/s = 23.7979 rad/s.
rollers and the nut. Similarly, the contact interactions are also As shown in Figure 13, the averaged axial speed of the
applied at the interfaces between the spur gear of the rollers nut is 11.8169 mm/s. Comparisons of analytical solutions with
and the ring gears. simulation results are shown in Table 4.
Mathematical Problems in Engineering 7

Table 3: Comparison of the analytical solutions with simulation results.

Displacement Displacement Angular Angular velocity

Axial speed
of nut at of nut at velocity of of planet carrier
of nut (V𝑛 )
point 𝐴 point 𝐵 roller (𝜔𝑟 ) (𝜔𝑚 )
Simulation results 24.8601 mm 49.8571 mm 22.6647 rad/s 4.5488 rad/s 49.7138 mm/s
Analytical solutions 25 mm 50 mm 23.5620 rad/s 4.7124 rad/s 50 mm/s
Relative error 0.5596% 0.2858% 3.8083% 3.4632% 0.5724%

Between screw
and frame Drive load
Rotating joint
Between rollers and
planetary carriers

Between ring gears

Restriction joint
and frame

Between planetary
Connection Column joint
carriers and frame
relationships of
components in Between nut and
PRSM Moving joint frame

Between screw and

rollers

Contact joint Between rollers and

nut

Between rollers and

ring gears

Load applied in
Nut
nut

Figure 5: The connection relationships of components in PRSM.

Displacement point B of nut 1150

55 for two rotations of screw
Angular velocity of the roller (∘ /s)

50 1125
Axial displacement of the nut (mm)

45 1100
40
1075
35
30 1050
25
Displacement point A 1025
20
of nut for one rotation 1000
15 of screw
10 975
5
950
0 0.0 0.2 0.4 0.6 0.8 1.0
0.0 0.2 0.4 0.6 0.8 1.0
Time (s)
Time (s)
Figure 7: Angular velocity curve of the roller.
Figure 6: Axial displacement curve of the nut.

The analytical solutions of angular velocity of planet As shown in Tables 3 and 4, the analytical solutions are
carrier, angular velocity of roller, axial speed of nut, and very close to the simulation results with errors less than
displacement of nut can be obtained by (10), (12), (26), 4% for identical helical direction (screw thread direction
(28), and (30), respectively. The comparisons of analytical and roller thread direction) case and errors less than 6%
solutions with simulation results are shown in Tables 3 and 4. for reverse helical direction (screw thread direction and
8 Mathematical Problems in Engineering

Table 4: Comparisons of analytical solutions with simulation results.

Displacement Displacement Angular

Angular velocity of Axial speed
of nut at of nut at velocity of
planet carrier (𝜔𝑚 ) of nut (V𝑛 )
point 𝐴 point 𝐵 roller (𝜔𝑟 )
Simulation results 5.9200 mm 11.9506 mm 23.7979 rad/s 4.7630 rad/s 11.8169 mm/s
Analytical solutions 6.25 mm 12.5 mm 23.5620 rad/s 4.7124 rad/s 12.5 mm/s
Relative error 5.2800% 4.3952% 1.0012% 1.0738% 5.4648%

300 Displacement point B of nut

Angular velocity of the planet carrier (∘ /s)

14
for two rotations of screw

Axial displacement of the nut (mm)

290 12

280 10

270 8

260 6
Displacement point A
250 4 of nut for one rotation
of screw
240 2

230 0
0.0 0.2 0.4 0.6 0.8 1.0 0.0 0.2 0.4 0.6 0.8 1.0
Time (s) Time (s)

Figure 8: Angular velocity curve of planet carrier. Figure 10: Axial displacement curve of nut.

80 1150
Angular velocity of the roller (∘ /s)

70
Axial speed of the nut (mm/s)

1125
60

50 1100

40
1075
30
1050
20

10 1025
0.0 0.2 0.4 0.6 0.8 1.0 0.0 0.2 0.4 0.6 0.8 1.0
Time (s) Time (s)

Figure 9: Axial speed curve of nut. Figure 11: Angular speed curve of roller.

roller thread direction) case, respectively. The relative errors (the contact of components is defined by using impact
may originate from the following. (1) The form of roller function in the numerical model and the impact is correlative
thread is designed with rounded half-section to enhance the to meshing clearance) are considered in the numerical model,
carrying capacity and improve the contact characteristics. which lead to fluctuation of simulation results.
However, the radius of the rounded half-section (the radius According to the results of numerical simulation, the
can be denoted as 𝑅 = 𝑑𝑟 /2 sin 𝛽, where 𝛽 is contact angle angular velocity and axial speed curves of the components
of the roller thread) is decimal fraction in the numerical generate a higher fluctuation. In addition to the influence of
model, which leads to error of meshing position between impact and clearance, the sliding is another important factor.
the analytical model and the numerical model. (2) The slip Therefore, the analysis of the forces has been performed.
ratio is a nonconstant, which leads to slipping between the When the helical direction of screw thread is identical
screw and the roller and between the roller and the nut. with that of the roller thread, as shown in Figure 14, the
Furthermore, the slip ratio cannot be ascertained in the friction force (equal to 𝜇𝐹𝑁 cos 𝜆 𝑟 , where 𝜇 is coefficient of
numerical model. (3) The meshing clearance and impact friction) applied on the roller thread is in the helical direction
Mathematical Problems in Engineering 9

290 FN Fa
Angular velocity of the roller (∘ /s)

285
Screw thread surface
280
𝜇FN
275 Ft
Roller thread surface 𝜆r
270 𝜆s

265

260
0.0 0.2 0.4 0.6 0.8 1.0 Figure 14: Force analysis when thread direction is identical between
Time (s) the screw thread and the roller thread.

Figure 12: Angular velocity curve of planet carrier.

Roller thread surface

30

Ft
Axial speed of the nut (mm/s)

25 𝜆s
Screw thread surface 𝜇FN
𝜆r
20

15

FN Fa
10
Figure 15: Force analysis when thread direction is reversed between
5 the screw thread and the roller thread.

0
0.0 0.2 0.4 0.6 0.8 1.0
Time (s) Besides, the results of Table 4 also indicate that some slip
always occurs between the roller and the screw as a result
Figure 13: Axial speed curve of nut. of reversed relative movement direction between the screw
and the roller. The slip is closely impacted by the rotational
speed of the screw, axial load applied on the nut, lubrication
conditions, and so on. Generally, the position accuracy of the
of roller movement and the tangent force component is PRSM is secured by applying a higher preload on the nut and
opposite to the movement direction. Such configuration operating at high axial load and low rotational speeds.
tends to slip and requires sufficient friction force to work
properly [9]. On the other hand, the roller rotates due to
friction force and the lack of friction force (compared with
5. Conclusions
tangent force) causes slipping. This paper develops the kinematics by analytical modeling
In Figure 14, 𝐹𝑎 is axial force, 𝐹𝑡 is tangential force, 𝜇𝐹𝑁 is and numerical modeling of the PRSM considering helical
friction force, and 𝐹𝑁 is resultant force of 𝐹𝑎 and 𝐹𝑡 . directions between screw thread and roller thread to provide
When the helical direction of screw thread is reversed a method to support its design and application. The major
to that of the roller thread, the force analysis is shown in findings are as follows:
Figure 15 [9].
It is similar to Figure 14; the directions of friction force (1) The analytical modeling considering helical direc-
(also equal to 𝜇𝐹𝑁 cos 𝜆 𝑟 ) and the tangent force component tions between the screw and the roller threads in
are reversed. If there is not enough friction force between the PRSM is presented to realize the design of PRSM with
screw and the rollers, the roller has tendency to slip. a smaller lead under a bigger pitch based on the dif-
Furthermore, the relative displacement errors shown in ferential principle of thread transmission. Numerical
Table 4 are 9.44 times (point 𝐴) and 15.38 times (point 𝐵) the modeling is developed by using Adams to validate the
corresponding values in Table 3. In other words, the reversed proposed analytical solutions. Besides, the kinematic
helical directions of screw thread and roller thread have models and simulation method considering helical
higher slipping tendency than the identical helical directions directions of screw and roller threads are available to
of screw thread and roller thread under the same constraint PRSM, which are beneficial to the further research of
conditions. the PRSM.
10 Mathematical Problems in Engineering

(2) The analytical solutions are close to the numerical 𝑛𝑛 : Start of the nut
results with errors less than 4% and 6% when the 𝑝: Pitch
direction of screw thread is identical with or reversed 𝑅: Radius of rounded half-section of roller
to the direction of roller thread, respectively. thread
𝑡: Operating time of the screw
(3) When the helical direction is identical between the
V𝑠 : Static slip velocity
screw thread and the roller thread, the friction force
V𝑑 : Dynamic slip velocity
applied on the roller thread is in the helical direction
V𝐵 : Linear velocity of the contact point
of roller movement. However, the tangential force
V𝑜 : Linear speed of the roller center point
component is opposite to the movement direction.
V𝑛 : Axial speed of the nut
Therefore, such case has slip tendency and requires
𝑥𝑛 : Modification coefficient
sufficient friction force to work properly.
𝑧𝑛 : Tooth number of ring gears
(4) When the helical direction of the screw thread is 𝑧𝑟 : Tooth number of gears near the ends of
reversed to that of the roller thread, the PRSM is an rollers
accuracy transmission which achieves the smallest 𝛼𝑛 : Pressure angle of gear pair
lead by introduction of a bigger pitch and a smaller 𝛽: Contact angle
lead as compared to the conventional ball screw where 𝜆𝑠: Helix angles of the screw
the small lead is extremely difficult to reach due to 𝜆𝑟: Helix angles of the roller
design difficulty of the return tube. 𝜆𝑛: Helix angles of the nut
𝜇𝑠 : Static friction coefficient
𝜇𝑑 : The dynamic friction coefficient
Notations 𝜑𝑚 : Orbital angle of the roller
𝑏1 : Tooth width of roller gear 𝜑𝑟 : Rotational angle of the roller
𝑏2 : Tooth width of ring gear 𝜑𝑛𝑚 : Angular arc of contact of screw with roller
𝑐∗ : Clearance coefficient 𝜑slide : Pure sliding angle
𝑑𝑠 : Effective diameter of the screw 𝜔𝑚 : Orbital speeds of the roller center point
𝑑𝑚 : Denotes orbital diameter of roller 𝜔𝑠 : Angular velocity of the screw
𝑑𝑟 : Effective diameter of the roller 𝜔𝑟 : Rotational speed of the roller
𝑑𝑛 : Effective diameter of the nut 𝜔𝑝1 : Angular velocities of the planetary carrier
𝐹𝑎 : Axial force on the left side
𝐹𝑡 : Tangential force 𝜔𝑝2 : Angular velocities of the planetary carrier
𝐹𝑁: Resultant force of 𝐹𝑎 and 𝐹𝑡 on the right side
ℎ𝑎 ∗ : Addendum coefficient 𝜔𝐻: Angular velocities of the planetary carriers
𝑖𝑠𝑟 : Transmission ratio between the screw 𝜔𝑛 : Angular velocity of the nut.
and the roller
𝑖𝑛𝑟 : Transmission ratio between the roller
Conflict of Interests
and the nut
𝐾: Stiffness coefficient The authors declare that there is no known conflict of
𝐿 1: Axial displacement of roller relative to interests associated with this publication and there has been
nut no significant financial support for this work that could have
𝐿 1𝑟 : Axial displacement of roller relative to a influenced its outcome.
rotating screw
𝐿 1𝑐 : Axial displacement of a rotating roller
relative to a fixed nut Authors’ Contribution
𝐿 1𝑛 : Axial displacement of the nut relative to
roller The authors confirm that the paper has been read and
𝐿 2: Axial displacement of the roller relative approved by all named authors and that there are no other
to the screw persons who satisfied the criteria for authorship but are not
𝐿 2𝑟 : Axial displacement component of the listed. The authors further confirm that the order of authors
roller listed in the paper has been approved by all of them.
𝐿 2𝑠 ∗ : Axial displacement component of the
roller relative to the screw Acknowledgments
𝐿 2𝑠 : Axial displacement of screw relative to
roller The research was supported by the National Natural Science
𝐿 𝑛: Axial displacement of the nut Foundation of China (no. 51275423), Specialized Research
𝐿 0: Lead of the PRSM Fund for the Doctoral Program of Higher Education (no.
𝑚: Module of gear pair 20126102110019), the 111 Project (no. B13044), and Funda-
𝑛𝑠 : Start of the screw mental Research Funds for the Central Universities (no.
𝑛𝑟 : Start of the roller 3102015JCS05008).
Mathematical Problems in Engineering 11

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