为解决新型复合摆线齿轮的加工问题，提出一种基于渐开线插齿刀具运动控制 的复合摆线齿轮加工方法． 首先，建立复合摆线齿轮有效齿廓及渐开线插齿刀具齿廓的数 字化离散模型，分析复合摆线齿轮与渐开线插齿刀具在加工过程中的相对运动关系;基于 齿轮啮合原理，推导复合摆线齿轮插削加工的运动控制模型，得到数控机床的运动参数并 将其插值形成连续共轭运动，实现复合摆线齿轮有效齿廓的连续插削加工; 其次，推导利 用球形铣刀铣削加工复合摆线齿轮齿根部位时铣刀的中心轨迹，并给出铣削加工刀具的 选择方法． 最后，运用 Matlab 对复合摆线齿轮的加工过程进行仿真分析． 结果表明，该加 工方法正确可行，且具有较高的加工精度． 

 In order to machine the novel composite cycloid gear，a machining method is developed on the basis of the kinematic control of involute shaping cutter． At first， the digital and discrete models of the effective tooth profile of composite cycloid gear and the tooth profile of involute shaping cutter are built． The relationship between composite cycloid gear and involute shaping cutter relative motion is analyzed in the machining process． The kinematic control model for machining composite cycloid gear is derived on the basis of conjugation theory of gear meshing． The movement parameters of CNC machine are solved，and these parameters are interpolated in a continuous conjugate motion． The continuous shaping of the effective tooth profile of composite cycloid gear is realized． Then， the central path of the spherical milling cutter for milling the root of composite cycloid gear is derived，and the selection method of milling cutter is presented． At last， the machining process of composite cycloid gear is simulated by the software Matlab． The simulation results demonstrate that the developed machining method not only is feasible but also has fairly high precision．