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 me