以二级行星滚柱丝杠为研究对象，补充了二级行星滚柱丝杠参数设计所需的强度条件和压杆稳定性要求，基于二级行星滚柱丝杠的运动原理，提出了各级滚柱自转与公转角速度、各级螺母直线位移与轴向移动速度的理论计算方法。根据设计参数建立了二级行星滚柱丝杠的三维模型，并基于ADAMS软件建立了二级行星滚柱丝杠多体动力学仿真模型。将理论值与ADAMS仿真分析结果进行对比，相对误差均在可接受范围内，验证了二级行星滚柱丝杠参数匹配的合理性和理论计算方法的准确性。

By taking the two-stage planetary roller screw mechanism （PRSM） as the research object，this paper supplements the strength conditions and the stability requirements of the compressed rod required for its parameter design.And，on the basis of motion principle of the two-stage PRSM，the theoretical calculation methods of the rotation and revolution angular velocity of the rollers，the axial displacement and axial velocity of the nut at each stage are proposed.Then，according to the design parameters，a three-dimension model of the two-stage planetary roller screw mechanism is established，and a multi-body dynamics simulation model is constructed based on ADAMS software.By comparing the theoretical values with the simulation results，it is found that the relative errors are within the acceptable range，which verifies the rationality of the parameter matching of the two-stage PRSM and the accuracy of the theoretical calculation method.