This study establishes the geometric model of cycloid–pin gear meshing transmission based on the multi-tooth meshing characteristics of the cycloid speed reducer. The calculation and analysis of meshing motion parameters of the cycloid speed reducer are carried out. An integrated calculation flow is presented for solving the question of the loaded tooth contact of the cycloid speed reducer by using the elimination clearance method of gradual contact and the quasi-Hertz contact simulation of the tooth surface under loads. The loaded transmission error is obtained, and both the number of pins participating in the meshing and the contact area of tooth surfaces are determined. Using the regression formula of the wear coefficient, the dynamic wear coefficient is quickly solved on the instantaneous contact line of the tooth surface. Thereby, the wear distribution law of two tooth surfaces appears. The results show that there is a singular point in the wear of the pin teeth, with a maximum wear of 100 μm, that seriously affects the meshing accuracy of the tooth surface and thus affects the accuracy and lifespan of the reducer.
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