RV減(jian)(jian)(jian)速(su)器(qi)作(zuo)(zuo)為(wei)工(gong)業機(ji)(ji)器(qi)人系(xi)(xi)(xi)統的(de)(de)(de)(de)精密減(jian)(jian)(jian)速(su)傳(chuan)動(dong)(dong)(dong)裝置，在工(gong)業機(ji)(ji)器(qi)人產業化(hua)方面起(qi)到關(guan)鍵性(xing)作(zuo)(zuo)用。就RV減(jian)(jian)(jian)速(su)器(qi)傳(chuan)動(dong)(dong)(dong)過(guo)程中零部件(jian)的(de)(de)(de)(de)彈性(xing)變形、激勵因素以(yi)及復(fu)雜(za)的(de)(de)(de)(de)接觸關(guan)系(xi)(xi)(xi)對減(jian)(jian)(jian)速(su)器(qi)動(dong)(dong)(dong)態(tai)特(te)(te)性(xing)的(de)(de)(de)(de)影響(xiang)問(wen)題(ti)，綜述了(le)RV減(jian)(jian)(jian)速(su)器(qi)固(gu)有特(te)(te)性(xing)、動(dong)(dong)(dong)態(tai)響(xiang)應、動(dong)(dong)(dong)力(li)穩定性(xing)、系(xi)(xi)(xi)統參數對系(xi)(xi)(xi)統動(dong)(dong)(dong)態(tai)特(te)(te)性(xing)的(de)(de)(de)(de)影響(xiang)等方面的(de)(de)(de)(de)研究內容，闡述了(le)國內外學者對RV減(jian)(jian)(jian)速(su)器(qi)動(dong)(dong)(dong)態(tai)特(te)(te)性(xing)的(de)(de)(de)(de)研究進展(zhan)，指出(chu)了(le)建立多個虛擬(ni)樣機(ji)(ji)模(mo)型以(yi)及如何實現(xian)對虛擬(ni)樣機(ji)(ji)的(de)(de)(de)(de)實驗驗證是RV減(jian)(jian)(jian)速(su)器(qi)動(dong)(dong)(dong)態(tai)特(te)(te)性(xing)研究的(de)(de)(de)(de)熱點問(wen)題(ti)。

  RV（Rotate Vector)減(jian)(jian)(jian)速(su)器傳(chuan)(chuan)動(dong)(dong)是在傳(chuan)(chuan)統擺線針輪(lun)傳(chuan)(chuan)動(dong)(dong)基礎上發(fa)展起來(lai)的(de)一種(zhong)二級減(jian)(jian)(jian)速(su)傳(chuan)(chuan)動(dong)(dong)，按(an)照庫氏分類法，該傳(chuan)(chuan)動(dong)(dong)屬于(yu)2K-V型行星(xing)傳(chuan)(chuan)動(dong)(dong)。與其(qi)它行星(xing)傳(chuan)(chuan)動(dong)(dong)相比(bi)，具有傳(chuan)(chuan)動(dong)(dong)比(bi)范圍大、傳(chuan)(chuan)動(dong)(dong)機(ji)構(gou)體積小(xiao)、質量(liang)輕、承載能(neng)力強、剛度大、壽命長、傳(chuan)(chuan)動(dong)(dong)效率(lv)、傳(chuan)(chuan)動(dong)(dong)平穩(wen)、運動(dong)(dong)精度、回(hui)差小(xiao)等諸多特(te)點(dian)，應用于(yu)工(gong)業機(ji)器人(ren)等精密傳(chuan)(chuan)動(dong)(dong)領域。為了(le)充(chong)分發(fa)揮RV減(jian)(jian)(jian)速(su)器效的(de)傳(chuan)(chuan)動(dong)(dong)效率(lv)、承載能(neng)力及可靠(kao)性(xing)等優越性(xing)，對其(qi)動(dong)(dong)態(tai)(tai)性(xing)研究具有重要的(de)工(gong)程(cheng)實(shi)際意義，但(dan)是RV減(jian)(jian)(jian)速(su)器發(fa)展歷史短，機(ji)構(gou)緊湊和工(gong)作原理特(te)，其(qi)動(dong)(dong)態(tai)(tai)特(te)性(xing)方(fang)面(mian)的(de)研究還(huan)有待進(jin)一步發(fa)展。因此，對RV減(jian)(jian)(jian)速(su)器動(dong)(dong)態(tai)(tai)特(te)性(xing)的(de)研究就顯得尤為重要。