Kinematic relationships in planetary drives

The relationships for determination of local kinematic characteristics, including coordinates, speed and acceleration components for the link particles of planetary drive on the basis of the superposition principle and Lagrange description of motion are given. Subsequent differentiation of these equations allows estimation of a wide variety of kinematic characteristics, and, then, energy and power characteristics of mechanical systems under consideration. The results are not limited by calculation of contact ratios when rotating one of the links, and they can be applied at all modes of planetary drive operation.