采用几何特性可调性强的复合摆线作为内齿廓，根据微分几何和齿轮啮合原理，按照少齿差运动规律，建立啮合方程以及共轭齿廓方程，并推导了齿轮副的啮合线、重合
度、啮合界限、根切条件． 分析了齿轮副诱导法曲率、压力角以及齿形调节系数对齿轮压力角的影响，设计并建立了齿轮副三维实体模型，进行了动力学仿真，模拟一定工况下齿轮副运动关系及传递效率． 结果表明，复合摆线少齿差行星传动具有多齿啮合、传动压力角小、齿轮副诱导法曲率小、传动效率高等优良的啮合性能．

By using the composite cycloid with good adjustable geometric feature as the internal gear tooth profile and on the basis of differential geometry and gear conjugate engagement theory,a meshing equation and a conjugate profile equation of composite cycloid planetary driving with small teeth difference are established,and the line of action,the contact ratio,the mesh boundary as well as the non-undercutting condition are all derived.Then,the induced normal curvature and the pressure angle are analyzed,and the influence of tooth profile adjustment coefficient on the pressure angle is discussed.Finally,a three-dimension solid model of the composite cycloid gear pairs is established,and a dynamic simulation is performed to reveal the meshing relationship as well as the transmission efficiency under certain conditions.The results show that the composite cycloid planetary driving with small teeth difference may result in excellent meshing properties such as multi-teeth meshing,small pressure angle,small induced normal curvature and high transmission efficiency.