The traditional robot drive system consists of motors and mechanical transmission devices, which have the disadvantages of low efficiency of energy conversion, high noise and complex gear transmission system. With the development of the human nature robot industry, the geared direct-drive motor system, which has the advantages of large transmission ratio, high efficiency and high power density, will bring important innovation and engineering application values to the robot general-purpose scenario applications. This paper proposes a novel permanent magnetic direct drive nutation motor system, focuses on the integration of a permanent magnet synchronous motor (PMSM) and a reducer, addresses the demands of robot drive motors for high transmission ratios, high efficiency, and compact structure. The kinematic analysis of the transmission process of the permanent-magnetic nutation transmission structure was conducted by using SolidWorks Motion, verifying the feasibility of the nutation scheme with a motor rotor pressure rod. The motor air gap magnetic induction intensity was analyzed using COMSOL Multi-physics software to explore the variation patterns of the air gap magnetic field. Based on this, the torque-angle characteristics were analyzed, and the torque-angle characteristic curves were given. Additionally, the motion stability of the new permanent-magnetic nutation drive structure was discussed to ensure stable torque output of the motor. The results indicate that the proposed permanent-magnetic nutation drive motor achieves a maximum output torque of 2.51N \(\cdot\) m and maintains a stable motion state. The integration of the permanent-magnetic nutation transmission mechanism and the PMSM offers a new technological path for research on robot drive motors.