Based on the abroad and domestic achievements, a novel three gear-plates planet drive with small teeth difference used in robot is developed according to theory of mechanisms and gear mesh, and a national patent is granted. The composing elements, kinematic relationship and transmission ratio of the three gear-plates planet drive with small teeth difference are analyzed. 3-D virtual drive has been designed and all kinds of interferences have been checked with the software Pro/Engineer. Kinematic simulation of the drive is made with dynamic software ADAM and the transmission ratios and rotation speeds are validated. So a solid foundation to trial-manufacturing the drive is layed.