Abstract: Based on Hertz contact theory, this paper studies the contact model of the planetary roller screw drive pair considering the contact characteristics of the drive pair. An analysis method is put forward to study the contact force and its distribution under the static contact state of the drive pair. The results of finite element analysis show that the method is reasonable and feasible. The method can be used for the study of the static contact characteristics of the drive pair, and provide the basis for the further research of static and dynamic characteristics of planetary roller screw.