This paper presents a geometrical model for simultaneously representing the structure and kinematics of planetary gear trains. Starting with a synopsis, the constitution and application rule of geometrical model for structure representation of PGTs are presented. Then, the usage of geometrical model for visualization of kinematics is outlined. Several geometrical models of 5-link PGTs are given to show the intuition and simplicity of kinematics visualization. Finally, an example that integrates clutching sequence synthesis and number of gear teeth synthesis for a 6-link automatic transmission, without using complicated artificial intelligence or algorithmic techniques, is presented to demonstrate the usefulness of the geometrical model. The results show that the visualization and intuition of geometrical model presented in this study can be a useful aid for general application.