RV減速機由一個行星齒輪減速機的前級和一個擺線針輪減速機的后級組成，RV減(jian)(jian)速器具(ju)有(you)結構緊湊(cou)，傳(chuan)動比大，以及在一定條件下(xia)具(ju)有(you)自鎖功能的傳(chuan)動機械，是最常用的減(jian)(jian)速機之一而且振動小，噪音低，能耗(hao)低。

RV傳(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)是(shi)新興起的(de)(de)一種(zhong)傳(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)，它是(shi)在傳(chuan)(chuan)(chuan)(chuan)(chuan)統(tong)針擺(bai)行星(xing)傳(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)的(de)(de)基礎上(shang)(shang)發展出來的(de)(de)，不僅克服了一般針擺(bai)傳(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)的(de)(de)缺點，而(er)且因為具有(you)體積小、重量輕、傳(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)比范圍大、壽命長、精(jing)度(du)保持穩定(ding)、效率高(gao)、傳(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)平穩等一系列優點。日益受到國(guo)(guo)內外的(de)(de)廣泛關(guan)注。RV減速(su)器(qi)(qi)是(shi)由(you)擺(bai)線針輪(lun)和(he)行星(xing)支架組成(cheng)以其(qi)體積小，抗(kang)沖擊力強，扭矩大，定(ding)位精(jing)度(du)高(gao)，振(zhen)動(dong)(dong)(dong)(dong)小，減速(su)比大等諸多優點被廣泛應用(yong)于工業機器(qi)(qi)人，機床，醫療(liao)檢測(ce)設備(bei)，衛(wei)星(xing)接(jie)收(shou)系統(tong)等領域。它較機器(qi)(qi)人中(zhong)常用(yong)的(de)(de)諧(xie)波(bo)傳(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)具有(you)高(gao)得多的(de)(de)疲勞強度(du)、剛(gang)度(du)和(he)壽命，而(er)且回差(cha)精(jing)度(du)穩定(ding)，不像諧(xie)波(bo)傳(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)那樣(yang)隨著使(shi)用(yong)時(shi)間(jian)增長運動(dong)(dong)(dong)(dong)精(jing)度(du)就會顯(xian)著降低(di)，故(gu)世界上(shang)(shang)許多國(guo)(guo)家高(gao)精(jing)度(du)機器(qi)(qi)人傳(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)多采用(yong)RV減速(su)器(qi)(qi)，因此，該種(zhong)RV減速(su)器(qi)(qi)在先進機器(qi)(qi)人傳(chuan)(chuan)(chuan)(chuan)(chuan)動(dong)(dong)(dong)(dong)中(zhong)有(you)逐漸取(qu)代(dai)諧(xie)波(bo)減速(su)器(qi)(qi)的(de)(de)發展趨(qu)勢。

RV減速機的傳動裝置是由第 一級漸開線圓柱齒輪行星減速機構(gou)(gou)和第二(er)級擺線針(zhen)(zhen)輪行(xing)星減速機(ji)構(gou)(gou)兩部分(fen)組成，為(wei)一封(feng)閉差(cha)動(dong)輪系如圖(tu)2.2為(wei)其結構(gou)(gou)示意圖(tu)。主動(dong)的(de)(de)(de)太陽輪1與輸(shu)入軸(zhou)(zhou)(zhou)相連(lian)，如果(guo)漸開(kai)線中心輪1順(shun)時(shi)針(zhen)(zhen)方(fang)向(xiang)旋轉(zhuan)，它將(jiang)帶動(dong)三個(ge)呈(cheng)120°布(bu)置的(de)(de)(de)行(xing)星輪2在(zai)繞(rao)中心輪軸(zhou)(zhou)(zhou)心公(gong)轉(zhuan)的(de)(de)(de)同時(shi)還有逆(ni)時(shi)針(zhen)(zhen)方(fang)向(xiang)自(zi)轉(zhuan)，三個(ge)曲柄軸(zhou)(zhou)(zhou)3與行(xing)星輪2相固連(lian)而同速轉(zhuan)動(dong)，兩片相位差(cha)180°的(de)(de)(de)擺線輪4鉸接(jie)在(zai)三個(ge)曲柄軸(zhou)(zhou)(zhou)上，并與固定的(de)(de)(de)針(zhen)(zhen)輪相嚙合，在(zai)其軸(zhou)(zhou)(zhou)線繞(rao)針(zhen)(zhen)輪軸(zhou)(zhou)(zhou)線公(gong)轉(zhuan)的(de)(de)(de)同時(shi)，還將(jiang)反(fan)方(fang)向(xiang)自(zi)轉(zhuan)，即(ji)順(shun)時(shi)針(zhen)(zhen)轉(zhuan)動(dong)。輸(shu)出(chu)機(ji)構(gou)(gou)(即(ji)行(xing)星架)6由裝在(zai)其上的(de)(de)(de)三對曲柄軸(zhou)(zhou)(zhou)支撐軸(zhou)(zhou)(zhou)承(cheng)來推(tui)動(dong)，把擺線輪上的(de)(de)(de)自(zi)轉(zhuan)矢量以(yi)1:1的(de)(de)(de)速比傳遞出(chu)來。