| The cycloid drive has the essential advantages such as wide range of transmission ratio, compact structure, high reliability and long working life, so it gets broad application and its research goes deep constantly. The drive has been not only applied to traditional transmission field but also has alluring application in the aspects of micro machine, robot gear, precision machine transmission, super mini cycloid drive, astronaut equipment, measurement apparatus, tenement intelligence and high-tech equipment.In the family of the cycloid drive, the FA cycloid-pin wheel planetary drive reducer is a new transmission device. Compared with the common cycloid drive, it has a series of advantages such as small volume, lightweight, wide range of transmission, diversity transmission, long life time, high rigidity, high slewing precision, stable precision, high efficiency and stable transmission. The design of the drive adopts a lot of advanced theories and technology methods and uses a kind of innovation structure, so the FA drive has overcome the defect of the traditional structure, enhanced the transmission efficiency, volume, and the transmission precision.It has summarized and analyzed the FA cycloid-pin wheel planetary drive systematically and put forward the main research content in the paper. Aiming for the structure character, the paper has studied and solved the following problems in the two aspects of both the theory and the practical application.1. In the aspect of the force analysis of the cycloid and pin wheel of the cycloid-pin wheel planetary drive, a force analysis method of mesh with initial clearance is put forward, which is more accord with the actual engineering. The method can calculate the contact force and its change range between the pin gear and the cycloid during the whole transmission more precisely. The method has overcome efficiently the deficiency of the big calculation error in the force analysis of the standard gear profile, also has proved that the one position of the touch force between the gear and the cycloid during whole transmission which put forward by literature [1] is a special case of the paper.2. Though the finite element calculation of the force analysis of the cycloid and the pin gear surface, it has been proved that the method put forward by the paper is correct. The two force analysis calculation results are consistent in the pin gear force, the touch pin gear at the same time and the touch stress value distribution, and the biggest error of touch stress between them is less than 5 percent.3. In the force analysis of the pin-hole-output mechanism, based on the principle of mesh with initial clearance, a method has been put forward to calculate the touch stress between the pin and the pin-hole in the cycloid disk for the first time, and a set of calculation formulas has been deduced too. Using the theory the pin force variation range during whole transmission and the pin gear transmitting force area has been obtained correctly. The calculation result shows that the calculation method in this paper is more near to the actual engineering.4. The teeth profile modification theory is the confidential core technology outside. On the base of investigating all kinds of the profile modification methods, and on the principle of optimum teeth touching surface, the concept of Inverse Arch-shaped Teeth Profile is been brought forward for the first time. It has also provided the method to get the Inverse Arch-shaped Teeth Profile with the combining modification method of 'plus equidistant + minus radial-moving' and the calculation method of the initial clearance of the Arch-shaped Teeth Profile. With the optimization theory the optimum inverse arch-shaped teeth profile is obtained. The calculation results about the various modification methods have showed that the touch state of the optimum inverse arch-shaped teeth profile can get the best stress.5. On the base of analyzing the geometry return difference and the dynamic return difference of the FA cycloid drive deeply, aiming for the character of the high precision drive, the Arch Back Teeth profile is obtained through the modification of the minus equidistant and plus radial-moving. While the return difference of the Arch Back Teeth profile can be satisfied by means of selecting different modification value. The calculation method of the modification value of the Arch Back Teeth profile of the allowable difference is also obtained by searching calculation.6. In the aspect of the FA cycloid-pin wheel planetary drive reducer, using the theory and research results put forward by the paper and adopting the optimized design theory, the main structure parameters in FA drive are optimized, the parameter optimization software is programmed, and taking the case of the type FA45-59 the product is designed and the sample machine is produced by the corporate factory. The practical test result of the whole sample function shows that the research methods of the paper are correct.7. According to the research results above, the serial software package of the FA cycloid-pin wheel planetary drive with three cycloids has been developed with the Visual C++ 6.0. The serial software concentrates the study result of the paper. The serial software is openness, and it can help users to design the main parameters of the FA cycloid-pin wheel planetary drive by providing the ordered transmission ratio. The software is able to provide all sets of technology information for cycloid drive manufactures and it can short the exploit cycle of the new products and economize the design costs.
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