Noncircular pin-cycloid transmission is proposed,which can implement variable gear ratio transmission between parallel axes. The meshing coordinate system of the noncircular pincycloid gears is set up,with the forming principle of the conjugate profile described. The tooth profile equation of the noncircular pin gear is established,then that of the cycloidal gear is derived through coordinate system transformation,based on the conjugate tooth profile theory,the circular pin gear cutting tool profile equation,and the noncircular pin gear cutting tool path and mesh equation. The parametric design of the gear pair is obtained by Matlab program. The design example of the noncircular pin-cycloid gear is achieved. And the three dimension model is established by SolidWorks. Based on the kinematics analysis of the noncircular pin-cycloid drive by Adams software,the validity of the principle and design of noncircular pin-cycloid drive is verified through the contrast analysis between the experimental and theoretical arithmetic results.