The planetary roller screw mechanism (PRSM) plays an irreplaceable role in strategic emerging industries and weapon equipment fields due to its advantages of high precision, high load capacity and high speed. This paper focuses on the problem of meshing sliding at the screw and roller interface. Taking pure-rolling contact PRSMs as the research object, which breaks through the shackles of the traditional PRSM based on the conjugate spiral surface design, and takes the conjugate spiral curve as the meshing basic element. Moreover, this paper innovatively puts forward the basic meshing theory of conjugate spiral curve of the PRSM, constructs the meshing tubular thread tooth surface that maintains the excellent contact characteristics of the conjugate spiral curve, and carries out the investigation on the innovative principle and design method of the pure-rolling contact PRSM. Hence, this paper offers an efficient design method for pure-rolling contact PRSM.