Nutation　drive　claims　the　advantages　of　high　load　capacity,　large　transmission　ratio,　desirable　stability,　low　noise,　and　compact　volume,　which　makes　it　an　excellent　alternative　to　typical　joint　reducers　used　in　industrial　robots.　This　paper　proposes　a　novel　two-stage　nutation　drive　as　a　joint　reducer　for　the　industrial　robot.　The　working　principle　of　the　nutation　movement　is　first　introduced　followed　by　an　analysis　of　transmission　characteristics.　The　transmission　ratio,　the　transmission　efficiency　as　well　as　the　structural　schematic　of　the　proposed　nutation　drive　are　presented.　Finite　element　analysis　of　the　main　components,　including　nutation　sleeve　and　bevel　gears,　was　performed.　Finally,　a　prototype　was　designed,　manufactured　and　tested　to　verify　the　feasibility　of　applying　the　nutation　drive　as　a　joint　reducer　for　industrial　robots.　©　2019,　KSME　&　Springer.