能够求摆齿传动机构的各构件质心的加速度、速度随原动件匀速转动时的变化规律；各构件运动副反力、支座反力和驱动力矩的变化规律；机构摆动力和摆动力矩的变化规律；-Each member can ask the pendulum centroid teeth transmission mechanism of acceleration, velocity variation with the original moving parts when the uniform rotation　each member movement Vice reaction force changes of bearing reaction force and drive torque　institutional swing the pendulum of power and torque Variation