深入地研究了单环路封闭式行星齿轮传动系统的动态特性；
The dynamic behaviors of encased differential gear train had been systematically re- searched.
按照传动形式的不同将传动系统分为圆柱外齿轮系和行星齿轮系两类，分析了每一类中多个典型案例。
According to driving type, the driving systems were classified into two groups, including the cylindrical gear system and the planet gear system.
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