本文分析了二齿差摆线针轮行星传动的啮合原理和强度计算方法。考虑了针齿分布、针齿与柱销强度、转臂轴承寿命等１２种约束条件，提出以针齿分布圆直径、针齿直径、摆线轮宽度、摆线轮内孔直径、短幅系数、销轴孔分布圆直径和销轴直径为设计变量，以体积最小、成本最低为目标函数的优化设计方法，研制出了该型减速器运动分析、强度计算、参数设计的一体化设计软件包。 This paper analyzes the meshing principle and strength calculation method of two-tooth decentered cycloid planetary transmission. Considering the distribution of pin teeth, the strength of pin and pin, the bearing life of the arm and so on, 12 kinds of constraint conditions are proposed, such as pinion distribution circle diameter, pin gear diameter, cycloidal wheel width, , The distribution of the diameter of the pin hole and the diameter of the pin as the design variables, and the optimization design method with the smallest volume and the lowest cost as the objective function, an integrated design software package of motion analysis, strength calculation and parameter design for the reducer has been developed .