Based on the analysis of transmission mechanism of rod-gear type Pulse Continuously Variable Transmission（ P-CVT）,the closed vector equations of equivalent plane six-bar mechanism are built. The kinematic mathematical model of angular displacement,angular velocity and angular acceleration of connecting rod,rocker and meshing point to input shaft axis of single phase transmission mechanism is constructed by the matrix method. At last,the kinematics simulation of three key components of connecting rod,rocker and output shaft plate is carried out by using MATLAB program. The results show that the rod-gear type CVT has the advantages of large variable speed range and low pulse rate,it also has the disadvantages of large inertia force of rod,rocker and large impact of output shaft disc etc.