Abstract: In this paper, the transmission characteristics of permanent magnet magnetorheological transmission are analyzed. The transmission device adopts cylindric working structure and the excitation source is set as the permanent magnet built-in type, which interferes with the flow field at the working area through the special magnetic column structure, and enhances the magnetic field strength at the working area. Under the combined action of shear and extrusion, the output torque capacity of magnetorheological transmission device can be developed to a greater extent. The model was established to analyze the influencing factors of the output torque value of the transmission device, and the prototype of the magnetorheological transmission device was developed, and the static load characteristics, speed regulation characteristics and torque characteristics of the prototype were tested. The results show that the design of the transmission device can be continuous and stable transfer torque.The increase of the magnetic field strength will effectively adjust the output speed. When the magnetic field strength is constant, the output torque of the whole transmission device has a certain linear relationship with the input speed of the motor, showing that the output torque is continuous and stable.