反向循环式行星滚柱丝杠副是一种可将螺母与电机融合设计，且具备易加工、大负载、长寿命的新型传动丝杠。螺母与多个牙型为环槽的滚柱啮合，多滚柱再与丝杠螺纹啮合传递动力。该文首先设计了反向循环式行星滚柱丝杠副的创新结构，推导了丝杠无螺纹区的尺寸范围及各零部件的参数匹配公式，并完成了虚拟建模；然后，推导了反向循环式行星滚柱丝杠副运动参数的计算式，再通过Adams软件建立动力学仿真模型并进行结果分析，仿真结果与理论结果的相对误差范围在0.20%～1.12%，验证了该文所采用的仿真方法及该结构的可行性；最后，分别从工况条件和凸轮环凸台斜面倾角两方面，定量分析了反向循环式行星滚柱丝杠副的螺纹接触力及滚柱与凸台斜面碰撞力的变化规律。结果表明：螺纹段的轴向接触力受转速和凸台斜面倾角的影响均极小，受外部载荷的影响则较大，且轴向平均接触力随着外部载荷的增大而显著增大；随着螺母转速以及丝杠负载的增大，滚柱与凸台斜面的碰撞力增大；随着凸台斜面倾角的增加，滚柱与凸台斜面的碰撞力范围大幅减小。该文的研究结果对优化反向循环式行星滚柱丝杠副的设计具有一定参考意义。

The inverted recirculating planetary roller screw mechanism is a novel transmission screw that enables integrated nut–motor design, offering simplified fabrication, high load capacity, and long service life. The nut engages with multiple annular-grooved rollers, which further mesh with the screw threads to transmit power. This paper first proposes an innovative structural design of the inverted recirculating planetary roller screw mechanism, derives the dimensional range of the screw's unthreaded section, and establishes the parameter matching equations for its components, followed by virtual modeling. Secondly, the calculation formulas for the motion parameters of the inverted recirculating planetary roller screw mechanism are derived. A dynamic simulation model was developed using Adams software, and the results were analyzed. The relative error between the simulation and theoretical results ranged from 0.2% to 1.12%, validating both the simulation approach adopted in this study and the feasibility of the proposed mechanism. Finally, the variation patterns of the thread contact force and the collision force between the rollers and the boss slope in the inverted recirculating planetary roller screw mechanism were quantitatively analyzed from two perspectives: operating condition parameters and the slope angle of the boss. The axial contact force in the threaded section is minimally affected by the rotational speed and the boss slope angle, but is significantly influenced by the external load; the average axial contact force increases markedly with increasing external load. As the nut’s rotational speed and the screw load increase, the collision force between the rollers and the cam ring boss slope also increases. However, as the boss slope angle increases, the range of collision force decreases significantly. This study provides a valuable reference for optimizing the design of the inverted recirculating planetary roller screw mechanism.