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The nutation face gear transmission is based on the nutation bevel gear planetary transmission with small tooth difference. Through the mechanism innovation, the "face-face" gear meshing pair is used to replace the internal bevel gear meshing pair, which is a new type of transmission device developed in combination with nutation principle. It combines the advantages of face gear transmission and nutation gear transmission, and has the advantages of high transmission ratio, high contact ratio, long service life, high bearing capacity, low weight and low volume.