Abstract: Rigid-flexible composite gear is a new type of gear with high reliability and precision transmission through adaptive deformation coordination of internal flexible components． In order to explore the influence of the coordination parameters of composite gear deformation on its dynamic characteristics，the virtual prototype of rigid- flexible composite gear pair was established by ADAMS based on the establishment of the comprehensive meshing stiffness model． The influence of the gap between the ring gear and the hub，the center distance of the gear pair， the elastic modulus of the metal rubber on the dynamic characteristics of the compound gear ring acceleration，an- gular acceleration，meshing force and dynamic transmission error were analyzed． The simulation results show that the reduction of the center distance of the gear pair not only diminishes the angular acceleration of the ring gear and the hub，but also the meshing force of the gear pair． What’s more，the transmission precision is also improved． The increase of the elastic modulus of the metal rubber can effectively suppress the vibration acceleration of the ring gear，but the meshing force increases． The gap between the ring gear and the hub increases，the acceleration of the ring gear increases，the transmission error increases，and the angular acceleration decreases． Combining the above factors，reducing the center distance of the gear pair and the gap between the ring gear and the hub，increasing the elastic modulus of the metal rubber can reduce the vibration of the composite gear and improve the transmission ac- curacy．

Key words: rigid-flexible compound gear, backlash-free transmission, ADAMS simulation, meshing stiffness, vi- bration, transmission error