The nonlinear analytical modal of the double cranck ring-plate-type pin-cycloid planetary drive system with Multi-DOF was established. Furthermore, the influence of various parameters and clearance changing with time on dynamic response of the system was studied. The vibration mode, vibration modal and resonance frequency on various boundary conditions have been analysed, and a series of pertinent vibration and noise tests have been done. In the meantime, the machine structure and shape of main parts of the new prototype were improved to reduce vibration and noise，the dynamic characteristic optimization of the whole system was obtained. According to the results of theoretical and dynamic test analysis, the main influence factors have been found out. The theory of optimization design and method of the dynamic-response analysis of the double cranck ring-plate-type pin-cycloid planetary drive have been set up. And on the basis, the optimization design of the structure, parameters and toothpfile have been fulfilled. The theoretical basis has been provided in the design of new prototype.