Abstract: Based on the static contact state of planetary roller screw drive pair, a contact characteristic model and contact force analysis method are proposed by the shape function analysis of the drive pair and Hertz contact theory. The results of finite element analysis show that the method is reasonable, and the contact profile shape function in the contact surface perpendicular to the radial direction satisfies the quadratic function characteristics, and the Hertz contact theory can be used to study the static contact characteristics of the drive pair.