For improving the designed quality of the cycloidal gear planetary drive, the paper derives a calculation formula of the minimum film thickness, which is between cycloidal gear teeth, based on elastohydrodynamic lubrication theory and gear geometry. A mathematical model for constrained multi-objective optimization is established and the model satisfies three constrains:maximize minimum film thickness between gear teeth( minimize the reciprocal ), minimize average value of m points’s absolute error value on active section that is between the tooth curves of positive shift optimal combination and tooth curves of rotated angle’s modification, minimize the total volume of gear drive. The paper abandons traditional designed method of the multi-objective optimization , improves two-objective particle swarm optimization and offers a new designed model for constrained three-objective optimization. The example is analyzed and the optimization program is complied using Matlab. The optimization’s process and result shows that the method of improved constrained multi-objective particle swarm optimization could effectively improve the products’ synthesize economical and technical indexes.