Dynamic characteristics of a wrist power transmission of an industrial robot are studied. The wrist power transmission has complex structure characteristics, because it is composed with several shafts and gear system. We used an analytical method to investigate the dynamic characteristics. An analytical model is a rigid model which is composed with masses and springs. Both bearing and gear contact model represent equivalent stiffness springs which are determined by the experiment. In order to investigate the dynamic tendency of the robot wrist power transmission, we simulate the analytical model. There is a dynamic analysis tool which is called the RecurDyn. To verify the analytic results, we experiment a signal analysis which is an overall noise level of the robot. By the parametric study of the element of the robot, we study an improvement method of dynamic characteristics.