“…Research on cycloid drives concerning the geometrical design method [20,23], kinematic principle [18,24], and load distribution analysis [4,11,12,14,15,25] have all assumed a two-dimensional planar problem without considering the three-dimensional topological structure of the cycloid gear. However, in practice, like involute cylindrical gears [26][27][28], the cycloid gear is also crowned in the longitudinal direction to avoid edge contact between the teeth and rollers, considerably improving the contact stress distribution. Three types of tooth longitudinal modifications for cycloid gears are proposed in this paper: fully crowned modification (FCM), partially crowned modification (PCM), and logarithmically crowned modification (LCM), as shown in Figure 4a-c, correspondingly.…”