循环式行星滚柱丝杠副是一种通过多个沟槽状滚柱与丝杠、螺母螺纹啮合的传动机构。文中对循环式行星滚柱丝杠副的工作原理与运动关系进行分析，建立了循环式行星滚柱丝杠副三维模型。将该三维模型导入多刚体动力学仿真软件ADAMS中，设置了合理的虚拟样机连接关系，对其进行动力学仿真分析并提取了角速度、速度、力以及力矩等相关参数。结果显示，滚柱角速度仿真值为28.28 rad/s，滚柱公转角速度为-5.20 rad/s，螺母移动速度为1.98 mm/s，螺母位移为2 mm，上述各值与其相对应的理论值进行对比，发现误差均小于5%，从而验证了仿真结果的正确性；滚柱分别与丝杠和螺母的接触力曲线在螺母螺纹区呈现正弦曲线特性；当负载为5、10和15 kN时，不同负载下同一滚柱与凸轮环凸台之间碰撞力最大峰值分别为113.92、32.31和54.08 N，且同一负载下不同滚柱与凸轮环凸台之间碰撞力最大峰值的波动区间与上述数值范围相近，故滚柱与凸轮环凸台之间的碰撞力峰值不受负载大小影响；滚柱与保持架之间的碰撞力矩随负载的增大而增大；循环式行星滚柱丝杠副在传动过程中，滚柱角速度在螺母无螺纹区开始出现突变，最大突变的位置在滚柱与凸轮环凸台接触处。文中相关研究对优化循环式行星滚柱丝杠副整体性能具有一定的参考意义。

The recirculating planetary roller screw mechanism is a transmission mechanism that is engaged by the screw or nut thread and multiple circular groove rollers. This study theoretically analyzed the working principle and motion relationship of the recirculating planetary roller screw mechanism, and established the 3D model of the recirculating planetary roller screw mechanism. The 3D model was imported into the multi-rigid-body dynamics simulation software ADAMS, and the reasonable connection relationship of virtual prototype was set. The dynamics analysis was carried out and related parameters such as angular speed, velocity, force and torque were extracted. The results show that the simulated value of roller angular speed is 28.28 rad/s, the angular speed of roller is -5.20 rad/s, the nut movement velocity is 1.98 mm/s, and the nut displacement is 2 mm. The above values were compared with their corresponding theoretical values, and the error was found to be less than 5%, thus verified the correctness of the simulation results. The contact force of the roller contacting with the screw and the nut respectively presents sine curve characteristics in the nut threadless area.When the load is 5, 10 and 15 kN, the maximum peak of the collision force between the same roller and convex platform of cam ring under different loads are 113.92, 32.31 and 54.08 N, respectively. Besides, the fluctuation range of the maximum peak of the collision force between diffe-rent rollers and convex platform of cam ring under the same load is similar to the above values, thus the collision force between the roller and convex platform of cam ring peak value is not affected by the load size. The collision torque between the roller and the carrier increases under higher load; the angular speed of the roller begins to change in the nut threadless area during the operation of the recirculating planetary roller screw mechanism, and the maximum sudden change occurs at the contact between the roller and the convex platform of cam ring. This study has certain reference significance for optimizing the overall performance of the recirculating planetary roller screw mechanism.