建立了行星架悬浮的２Ｋ—Ｈ行星齿轮减速器的集中参数振动模型，用相对运动的动力学基本原理建立了系统的振动方程，采用Ｆｏｕｒｉｅｒ级数法求解振动响应，分析了齿轮误差、行星架悬浮、初始啮合相位等对系统动态特性的影响 The concentrated parameter vibration model of 2K-H planetary gear reducer with planetary carrier suspension was established. The vibration equation of the system was established by using the basic principle of relative motion. The vibration response was solved by Fourier series method. The gear error, The influence of suspension, initial phase of engagement on the dynamic characteristics of the system