Abstract : To verify the force analysis theory of the pin-hole type output mechanism of the cycloidal pin drive, this paper, based on the study of contact problems, uses the most advanced international finite element analysis software ANSYS to establish a finite element model of the contact between the output pin and the pin hole of the cycloidal wheel, and performs static three-dimensional contact analysis. The calculation results are consistent with the backlash dynamic force analysis method of the pin-hole type output mechanism proposed by predecessors. Keywords : FA pin drive; output mechanism; finite element analysis 1. Introduction FA transmission reducers have a series of advantages such as small size, light weight, large transmission ratio range, long service life, high stiffness, high backlash accuracy, stable accuracy maintenance, high efficiency, and smooth transmission. They are increasingly used in high-precision transmission fields such as industrial robot transmission. Its commonly used output mechanism adopts a pin-hole type structure. Since the force on the output mechanism is related to the contact strength between the pin hole of the cycloidal wheel and the pin, and the bending strength of the pin, its force analysis calculation is very important. In the literature, a force analysis method for a backlash meshing output mechanism was proposed [2]. Although this method is closer to reality than the traditional force analysis method for a pin pendulum output mechanism, it assumes that the force of the cycloidal wheel on the output pin is a concentrated force when calculating the total elastic deformation of the pin, and that it acts on the pin at the center of the width of the corresponding cycloidal wheel. In fact, the force between the output pin as a cantilever beam and the pin hole of the cycloidal wheel is very complex. It cannot be equivalent to a concentrated force or a uniformly distributed force acting on the width of the cycloidal wheel. The force between them and the contact state and distribution law during the force action process are difficult to summarize with certain theoretical formulas. It must be verified by the three-dimensional finite element contact analysis method, because the finite element calculation is more in line with reality to a certain extent and can express many laws that are difficult to express clearly with abstract thinking. This paper uses the most advanced international finite element analysis software ANSYS to establish a finite element model of the contact between the output pin and the pin hole of the cycloidal wheel, and performs static three-dimensional contact analysis on it. Download the full text of the finite element analysis of the FA type pin pendulum transmission output mechanism based on ANSYS.