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Technical Brief

Dynamics of the Planetary Roller Screw Mechanism

[+] Author and Article Information
Matthew H. Jones

Department of Mechanical and Aerospace Engineering,
University of California–Davis,
One Shields Avenue,
Davis, CA 95616
e-mail: mhjones12@gmail.com

Steven A. Velinsky

Fellow ASME
Department of Mechanical and Aerospace Engineering,
University of California–Davis,
One Shields Avenue,
Davis, CA 95616
e-mail: savelinsky@ucdavis.edu

Ty A. Lasky

Department of Mechanical and Aerospace Engineering,
University of California–Davis,
One Shields Avenue,
Davis, CA 95616
e-mail: talasky@ucdavis.edu

1Corresponding author.

Manuscript received November 3, 2014; final manuscript received March 2, 2015; published online August 18, 2015. Assoc. Editor: James Schmiedeler.

J. Mechanisms Robotics 8(1), 014503 (Aug 18, 2015) (6 pages) Paper No: JMR-14-1313; doi: 10.1115/1.4030082 History: Received November 03, 2014

This paper develops the dynamic equations of motion for the planetary roller screw mechanism (PRSM) accounting for the screw, rollers, and nut bodies. First, the linear and angular velocities and accelerations of the components are derived. Then, their angular momentums are presented. Next, the slip velocities at the contacts are derived in order to determine the direction of the forces of friction. The equations of motion are derived through the use of Lagrange's Method with viscous friction. The steady-state angular velocities and screw/roller slip velocities are also derived. An example demonstrates the magnitude of the slip velocity of the PRSM as a function of both the screw lead and the screw and nut contact angles. By allowing full dynamic simulation, the developed analysis can be used for much improved PRSM system design.

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References

Figures

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Fig. 1

Exploded view of roller screw and the relevant components

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Fig. 2

Coordinate systems and contact location

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Fig. 3

Velocity of center of mass of roller (a) in-plane and (b) axially

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Fig. 4

Screw/roller in-plane slip velocity diagram

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Fig. 5

Simulation results showing convergence of dynamic angular velocity ratio to ideal kinematic relationship

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Fig. 6

Steady-state slip velocity magnitude

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