In order to solve the problem of excessive labor consumption in the process of wire harness coating, an automatic winding mechanism of wire harness with planetary structure wheel belt composite transmission was designed by using SolidWorks. The mechanism has the function of winding and automatic belt breaking in coordination with an industrial robot. In order to study the motion characteristics of the mechanism, the dynamic simulation of the mechanism was carried out by ADAMS. The transmission characteristics, the internal and external factors affecting the transmission stability, vibration response frequency and gear meshing characteristics of the mechanism were studied. The results show that the wire harness winding mechanism runs smoothly. The study provides a reference for the optimization of the model.