Double crank four ring-plate-type pin-cycloidal gear planetary drive driven by two motor is a new-type pin-cycloidal gear planetary that has practical value. This article mainly discusscs the drive principle

kinematical analysis

force analysis

mathematics model of the system

and works out calculation program. The analysis result shows that the whole system could reach not only a static balance but also a dynamic balance at all time because of the special phase angle relation

it keeps all the advantages of the traditional cycloidal-pin wheel planetary gear train.