The current cycloid reducer drive has the shortage of needing special output mechanism, large volume and high vibration. To solve this problem, a new gyratory fixedspindle cycloid drive is designed. The drive principle of the reducer is introduced. Formula for calculating the basic parameters and tooth profile equation of cycloid gear are derived. On the basis of discussion of the mechanism and the principles of gear connection, a prototype is designed and manufactured. The results of the prototype test on the gear test rig indicate that the transmission efficiency of the new drive may reach 91.9% at rated operating conditions, the biggest vibration velocity effective value is 3.09 mm/s, and the biggest structure noise is 101.6 dB.