Multi-roller Load Distribution of Inverted Planetary Roller Screw Mechanism for Humanoid Robot

doi:10.3901/JME.260163

Abstract

Abstract: Humanoid robots have placed stringent requirements on the power density of the inverted planetary roller screw mechanism (IPRSM), and the load-bearing capacity has become a key indicator that determines the performance of IPRSM. Installation errors are inevitable, exacerbating the uneven load distribution, leading to excessive wear or even crushing of the threads, which has become a significant cause of premature failure of IPRSM. Aiming at the problem that the correlation between installation error and load distribution among rollers is unclear, a multi-roller load distribution calculation method of IPRSM considering installation error is proposed. The axial contact clearance considering the installation error is calculated based on the meshing principle. The equivalent contact force and deformation of multiple rollers are obtained using the equivalent contact theory. The deformation-force balance relationship of multi-point contact of the thread is established, and an iterative algorithm is developed to solve the load distribution on the roller. The effectiveness of the established model is verified by comparative with finite element simulation. Finally, a parametric analysis of the influence of installation errors and external loads on load distribution is carried out. The results show that the closer to the axis offset error direction, the greater the total load borne by the roller, and the more uneven the load distribution on the roller. The increase in axis tilt error causes the maximum axial contact force on some rollers to gradually shift from one end to the other. Excessive installation errors may cause some rollers or threads to become disengaged. The smaller the external load, the worse the load distribution uniformity among rollers.

Key words: humanoid robot, planetary roller screw mechanism, installation error, load distribution, multi-roller

CLC Number:

TH132

ZHOU Huanhui, HU Rui, WANG Shujun, QIN Ruili, SHI Jinfang, WEI Peitang, ZHU Caichao. Multi-roller Load Distribution of Inverted Planetary Roller Screw Mechanism for Humanoid Robot[J]. Journal of Mechanical Engineering, 2026, 62(15): 334-349.

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URL: http://www.cjmenet.com.cn/EN/10.3901/JME.260163

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