为进一步提高摆线针轮减速机的传动效率，对减速机传动效率的影响规律进行了深入研究，提出了考虑设计参数与工况参数变化的摆线针轮减速机传动效率计算模型，并对参数进行了优化。首先，考虑摩擦力和啮合齿隙，建立了摆线针轮传动机构的多齿承载接触分析模型，计算了摆线针齿啮合力与载荷分布规律；然后，考虑摆线针轮减速机的啮合损耗、输出损耗、轴承损耗、润滑损耗和密封损耗，提出了摆线针轮减速机传动效率计算模型，并分析了设计参数和工况参数对摆线针轮减速机传动效率的影响规律。研究表明，在考虑摩擦受力的情况下，转速、负载、针齿销半径、针齿分布圆半径、偏心距、针齿套半径是影响传动效率的主要参数，针齿销数、柱销分布圆半径、柱销半径和摆线轮齿宽次之。最后，以齿轮强度、齿轮宽度、齿廓形状、齿间间隙和承载能力作为参数优化范围，将效率和体积作为目标对设计参数进行多目标优化分析，得到最优参数解，进而获得了更小体积、更高传动效率的摆线针轮减速机。

In order to further improve the transmission efficiency of the cycloidal pinwheel reducer, this study conducted in-depth research on the influence of the reducer transmission efficiency. It proposed a calculation model for the transmission efficiency of the cycloidal pinwheel reducer that takes into account changes in design parameters and working condition parameters and optimized the parameters. Firstly, considering the friction force and meshing backlash, the study established a multi-tooth load-bearing contact analysis model of the cycloid pinwheel transmission mechanism, and calculate the meshing force and load distribution pattern of the cycloid pinwheel gear. Then, considering the engagement loss, output loss, bearing loss, lubrication loss and sealing loss, this paper proposed a calculation model for the transmission efficiency of the cycloidal pinwheel reducer, and analyzed the influence of the design parameters and working condition parameters on the transmission efficiency of the cycloidal pinwheel reducer. Research shows that, taking frictional stress into account, rotation speed, load, pin tooth pin radius, pin tooth distribution circle radius, eccentricity, and pin tooth sleeve radius are the main parameters that affect transmission efficiency, followed by the number of pin teeth, pin distribution circle radius, pin radius and cycloid tooth width. Finally, the optimal parameter solution was obtained through a multi-objective optimization analysis of the design parameters with gear strength, gear width, tooth profile shape, inter-tooth clearance and load-bearing capacity as the parameter optimization range, and transmission efficiency and volume as the goals. And then a smaller volume and more efficient cycloidal pinwheel reducer was obtained.