Depending on the small angular movement in practical applications, a mathematical model of the planetary roller screw is established.The axial displacement of the planetary roller screw is made up of the elastic deformation and displacement of transmission, the Hertz contact theory is used to solve the e-lastic deformation, and a transmission relationship of the planetary roller screw is got; On the basis of a-bove, a finite element model of planetary roller screw is established, and then, the dynamic response of the planetary roller screw is obtained.Finally, the motion characteristics and dynamic characteristics for small angular movement of the planetary roller screw are got.%根据实际应用中的小转角运动建立了行星滚柱丝杠的数学模型：把行星滚柱丝杠的轴向位移分解为啮合接触弹性变形量和传动轴向位移，用 Hertz 接触理论求解了不同载荷下啮合接触弹性变形量，并推导了行星滚柱丝杠传动关系；在此基础上建立了行星滚柱丝杠的有限元模型，通过有限元仿真获得了行星滚柱丝杠的动力学响应，最终获得行星滚柱丝杠小转角下运动特性和动力学特性。
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