A cycloid staged planetary gear has two cycloid curves, which transfers the rotation and torque from eccentric (4) cross-pieces and gear (8) to two interlocked stepped planet wheels (9). Each of the planet wheels (9) has a cycloid curve (12,13) paired with two central non-coupled shafts (2, 3). The two cycloid curves are constructed in accordance with the condition that e1 (z1+1)/r1=e2(z2+1)/r2, where z is the number of teeth, e is the eccentricity, r is the reference radius, q is the equidistant, index 1 is the first stage and index 2 is the second stage.
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