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Hydrogen engines have problems of knocking, lower thermal efficiency and NOX emission. These problems are caused by the hydrogen characteristics of high burning velocity. This study tried to reduce rapid combustion of hydrogen. Hydrogen was injected directly into the combustion chamber and the hydrogen-jet was ignited by a spark plug. Moreover, this kind of combustion system was applied to a newly developed engine employing Z-crankshaft mechanism. This mechanism can realize a quasi-constant volumetric cycle. In the result, the engine realizes knock-less combustion with low NOX emission. In addition, Z-crankshaft engine can keep high thermal efficiency even at late ignition timing.