The toroidal planetary- worm drive mechanism has the characteristics of structural compactness,high transmission efficiency and wide range of transmission ratio. But the popularity degree is not high,because of the processing and manufacturing of the internal toroidal gear is difficulty and the assembly difficulty of toroidal planetary- worm drive mechanism,the vibration and noise may be caused by a slight deviation which is hard to avoid during production,and this will affect the transmission accuracy and efficiency. A new type of the toroidal planetary- worm drive mechanism which is good for reducing the difficulty of the toroidal planetary- worm drive mechanism processing and assembling is proposed. The analysis of the meshing theory and kinematical simulations for the novel planetary- worm drive also is implemented.