The pinwheel transmission with planar fluctuation (PTPF) is introduced in this paper, which falls into the category of rigid wheel single-wave designs. Employing a one-wave, one-tooth-difference reduction mechanism, it achieves a few-tooth-difference speed reduction through the engagement between a external bevel gear and an output planar gear. This design addresses three critical issues: the driving, stopping, and pushing of the fluctuation gear. By conducting in-depth research on its design principles, optimizing structural parameters, and improving manufacturing processes, the PTPF can be able to achieve a high reduction ratio, large torque, and long service life and their widespread application can be facilitated, particularly showcasing significant market potential in areas such as robotic joints. This advancement holds great significance for promoting the transformation, upgrading, and high-quality development of the equipment manufacturing industry.