The paper examines the static behavior of the inverted planetary roller screw (PRS) through numerical and experimental studies. The numerical analysis of the inverted PRS is first presented to capture the global and local deformations in different configurations. Using a three-dimensional finite element (3D FE) method, a sectorial model of the mechanism is built involving an entire roller. The model describes the static behavior of the system under a heavy load and shows the state of the contacts and the in-depth stress zones. The current work also investigates the axial stiffness (AS) and the load distribution (LD) under both compressive and tensile loadings. It is shown that the LDs are not the same at each contact interface of the roller and that they depend on the configuration of the system. Also, the nut is less stressed than the screw shaft because of their contact curvatures. In parallel, complementary experiments are carried out to measure the axial deflection of the screw shaft and the rollers in five cases with different numbers of rollers. In each situation, the mechanism is under the same equivalent axial and static load. The tests reveal that rollers do not have the same behavior, the difference certainly being due to manufacturing and positioning errors that directly affect the number of effective contacts in the device. This stresses the fact that the external load is unequally shared over rollers and contacting threads. By introducing the notion of an equivalent roller, the results are used to validate the previous numerical model of an inverted PRS. As they provide a better understanding of the inverted PRS, these investigations are useful to improve the existing analytical models of the device.

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