This paper introduces a symbolic notation for describing two degree-of-freedom spur planetary gear trains with the configuration of two central gears, one carrier or arm, and at least one planet gear. This simple notation is then used to write the kinematic equation of motion for this type of planetary gear train without the need to develop any intermediate equations. It is also shown that, there are exactly 22 basic spur planetary gear trains with this configuration and not 34 as Levai [1] previously found. These 22 planetary gear trains are illustrated along with their symbolic notation and kinematic equation of motion.

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