Influence Mechanism of Machining Errors on a Novel Planetary Roller Screw Mechanism for Humanoid Robot Joints

QIAO Guan; JIA Wenhao; LIU Yongliang; YAN Zuohai; WANG Zhiqi; XIE Haibo; GAO Peijun

doi:10.7652/xjtuxb202610006

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Influence Mechanism of Machining Errors on a Novel Planetary Roller Screw Mechanism for Humanoid Robot Joints

Special Topic Embodied Intelligent Robot | 更新时间：2026-09-29

- Influence Mechanism of Machining Errors on a Novel Planetary Roller Screw Mechanism for Humanoid Robot Joints
- Journal of Xi'an Jiaotong University Vol. 60, Issue 10, Pages: 69-79(2026)
- 作者机构：
  
  内蒙古工业大学内蒙古自治区机器人与智能装备技术重点实验室，010051，呼和浩特
  浙江兆丰机电股份有限公司，311231，杭州
  浙江大学机械工程学院，310027，杭州
  特种车辆设计制造集成技术全国重点实验室，014032，内蒙古包头
  杭州新剑机电传动股份有限公司，311300，杭州
- 作者简介：
- 基金信息：
- DOI：10.7652/xjtuxb202610006
  CLC： TH132.1
- Received：14 April 2026，
  
  Online First：25 June 2026，
  
  Published：10 October 2026
- 稿件说明：
移动端阅览
QIAO Guan, JIA Wenhao, LIU Yongliang, et al. Influence Mechanism of Machining Errors on a Novel Planetary Roller Screw Mechanism for Humanoid Robot Joints[J/OL]. Journal of Xi'an Jiaotong University,2026,60 (10):69-79. https://doi.org/10.7652/xjtuxb202610006.
DOI：

QIAO Guan, JIA Wenhao, LIU Yongliang, et al. Influence Mechanism of Machining Errors on a Novel Planetary Roller Screw Mechanism for Humanoid Robot Joints[J/OL]. Journal of Xi'an Jiaotong University,2026,60 (10):69-79. https://doi.org/10.7652/xjtuxb202610006. DOI：

摘要

为提高人形机器人关节对高承载、高精度和紧凑集成执行器的需求，针对新型反向循环式行星滚柱丝杠副（IRPRSM）在加工误差作用下啮合位置与轴向间隙难以预测的问题，建立了IRPRSM的三体统一螺旋曲面方程和空间啮合模型，得到在误差作用下实际啮合位置、啮合半径、偏角及轴向间隙等位置精度关键参数的作用机理。研究结果表明：偏心误差会使啮合半径和轴向间隙随机构运动呈周期性波动，且丝杠头数越多，波动频率越高；在±0.03mm误差范围内，丝杠与滚柱中径误差引起的轴向间隙差不超过2μm；当仅丝杠或仅滚柱存在牙型角误差时，轴向间隙在0°处达到峰值24.58μm，误差增至±3°时轴向间隙降至约10～12μm；当牙型角误差同向等量变化时，轴向间隙仅由22.87μm增至26.11μm，表明误差同步变化对间隙的影响相对较小；分头误差虽不改变轴向接触位置，但会引起上下螺旋曲面间隙重新分配。该研究可为人形机器人关节线性执行器中IRPRSM的加工制造和高精度装配提供理论依据。

Abstract

To meet the demands of humanoid robot joints for actuators with high load capacity

high precision

and compact integration

and to address the difficulty in predicting the meshing position and axial clearance of a novel inverted recirculating planetary roller screw mechanism (IRPRSM) under machining errors

this study establishes unified three-body helical surface equations and a spatial meshing model for the IRPRSM. Consequently

the influence mechanism of machining errors on key positional accuracy parameters—such as the actual meshing position

meshing radius

deflection angle

and axial clearance—is revealed. Results show that eccentricity error causes periodic fluctuations in the meshing radius and axial clearance during mechanism operation

with the fluctuation frequency increasing with the number of screw starts. Within an error range of ±0.03mm

the difference in axial clearance induced by the pitch diameter errors of the screw and roller does not exceed 2μm. When a flank angle error is present solely in the screw or the roller

the axial clearance peaks at 24.58μm at 0° and drops to approximately 10-12μm as the error increases to ±3°. When the flank angle errors of the screw and roller change equally in the same direction

the axial clearance increases only from 22.87μm to 26.11μm

indicating that synchronous error variation has a relatively minor effect on the clearance. Although the thread indexing error does not alter the axial contact position

it causes a redistribution of the clearance between the upper and lower helical surfaces. This study provides a theoretical basis for the manufacturing and high-precision assembly of IRPRSMs in linear actuators for humanoid robot joints.

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