本文提出了一种适用于工程实际的摆线针轮行星传动的输出机构受力分析理论，并给出一套完整公式。
Gives the force analysis theory of mechanism W of cycloidal gear suitable for engineering practice and series complete formula.
现有摆线针轮行星传动属于动轴传动，需要专门的输出机构、且传动效率低。
The existing cycloid and pin planetary drive is axis-live transmission, which needs specialized output with low transmission efficiency.
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