The kinematic equations and rotational speed relative sequence of the double and douplex planet multi-member planetary trains were established according to the mesh relation. The design theory and method of multi-freedom compound planetary transmission scheme were presented based on component relative rotational speed diagram. Essential condition of the diagram to design the scheme was decided, and the methods to distinguish component attributes and to calculate planetary characteristic parameters were presented. Finally, The feasibility and correctness of the method were validated by some design instances.

根据复合双星排和复合双联排的各元件之间的相互啮合关系，建立了复合排的运动学方程组并确定了各元件的转速关系。通过建立多自由度行星变速机构的构件相对转速图，提出了一种多自由度复合行星传动方案设计理论和方法。确定了设计多自由度复合行星传动方案应满足的必要条件，以及组成复合排的各构件属性判别方法和行星排的特性参数计算方法。设计实例验证了该方法的可行性和正确性。