The precision cycloidal pin-roller reducer has been widely used in industrial robots, aerospace and medical equipment and other fields, due to its high rigidity, high bearing capacity and compact structure (Yu et al., 2022; Xin et al., 2017;Stenmark et al., 2015). Among them, the cycloidal pin-roller mechanism is a critical component that determines the transmission efficiency and bearing capacity of the reducer (He et al., 2000;He et al., 2015;Chen et al., 2019). The schematic diagram is as shown in Figure 1: Op and Oc are respectively the center of the pin-roller distribution circle and the center of the cycloid gear. During the transmission process, the pin-roller rotates around its own axis, while the cycloid gear rotates around Oc, and its pin-roller surface is in contact with the outer surface of the pin-roller for composite movement. In production applications, the tooth profile of the cycloidal gear needs to be modified to the extent that a certain clearance is left between it and the pin-roller for easy assembly and lubrication (Lu et al., 2018;Hsieh, 2015).At present, the tooth profile modification methods of cycloidal gear can be divided into two categories: full tooth profile modification and segmented modification. The full tooth surface modification is defined as a method in which a change of the modification parameters will affect the entire tooth surface and the tooth shape under this modification is more suitable for generation processing. The combined method of equidistant plus shift distance is believed to be an alternative but the generated tooth profile cannot meet the conjugate meshing transmission conditions, which will cause