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以摇臂传动系统复合行星齿轮为研究对象，依据其结构和运动特点，应用集中参数法，建立其动力学方程。根据复合行星齿轮的参数，对其固有特性进行分析，归纳了复合行星轮系的振动模式，包括行星轮振动模式和整体振动模式。同时应用ADAMS进行复合行星轮系的固有频率分析，结果表明：理论分析和系统仿真的结论相近。与单级行星齿轮相比，复合行星齿轮的振动情况更加复杂。“,”A compound planetary gear is considered, which is a part of the rocker driving system. With the lumped parameter method, the dynamics equation is established based on its structure and movement characteristic. According to the parameters of the compound planetary gear, inherent characteristics is analyzed. The vibration mode of compound planetary gear train is summed up, including the planet vibration mode and the overall vibration mode. At the same time, the ADAMS is applied to analyse inherent characteristics of the compound planetary gear. Results show that the conclusion of theoretical analysis is essentially in agreement with simulation. Compared with single-stage planetary gear, the vibration of the compound planetary gear is more complicated.