中文摘要：

阐述了双曲柄环板式针摆行星传动的传动原理、特点，针对双电动机驱动四环板针摆行星传动建立了模拟现实的虚拟样机仿真分析环境，将关键部件的受力与理论计算值进行比较，证明该样机模型设计正确、合理可靠，为今后进一步分析研究双驱动双曲柄四环板针摆行星传动奠定了基础。

英文摘要：

Drive principle, characteristic and advantages of the double crank ring - plate - type cycloidal gear plane-tary drive are introduced principally. Aiming at the double crank four ring- plate pin -cycloid gear planetary transmission driven by double motors, a virtual prototyping system, which could simulate the real world was established. And comparing with the academic results of key parts, it was proved that the new type of reducer is rational and reliable. It has been provided for further development of the double crank ring- plate -type cycloidal gear planetary transmission.