The　traditional　toroidal　drive　often　contains　an　internal　toroidal　gear　and　circular　central　worm.　The　purpose　of　this　paper　is　to　facilitate　the　accurate　machining　of　the　internal　gear　in　toroidal　drive　and　to　achieve　better　drive　characteristics.　For　this　purpose,　the　configurations　of　the　internal　gear　and　the　central　worm　as　well　as　their　influences　on　drive　characteristics　of　the　toroidal　drive　have　been　studied.　The　new　prototypes　of　the　toroidal　drive　with　the　cylindrical　internal　gear　and　the　circular　central　worm,　the　cylindrical　internal　gear　and　the　cylindrical　central　worm,　and　the　cylindrical　internal　gear　and　the　spherical　central　worm　have　been　proposed　and　discussed.　Three-dimensional　modeling　and　kinematic　and　dynamic　simulations　of　these　new　prototypes　of　toroidal　drives　have　been　accomplished.　The　characteristics　of　energy　dissipation,　driving　torque,　and　reaction　force　of　different　types　of　toroidal　drives　have　also　been　compared　and　analyzed.　©　2017　Taylor　&　Francis　Group,　London.