机器人用RV（RoVector）传动是在摆线针轮传动基础上发展起来的一种新型传动，它具有传动比范围大、结构紧凑体积小、运动精度高、刚度大、回差小、传动效率高等一系列优点，是目前机器人用高精度传动的最佳选择，因而在国内外受到广泛重视，已被列为我国机械工业“九五”关键技术研究项目．在简述其工作原理、结构设计的基础上，着重论述该传动达到二大（传动比大、扭转刚度大），二高（运动精度高、传动效率高），二小（回差小、体积小）的主要机理及所研制样机性能试验的结果

RV (Rot Vector) ed in robot is a new drip developed from aroid drive, it has a serial of advantageS, saal as a wide fange of trans~ion ratio, compact structure, small volume. high cinematic accuracy, highrigidity, little baCklash and high transition efl'KicnCy etc. It is the bet seleCtion of high--a~ drive ed inrobot at pat, so it is paid attenhon to at home and abroadAt the same time, it is p~ as key ~fogyin the ninth five--air plan of meChedtal industry of our counts. Gins amount of its operating prindple ands~ assign, emphaticly ~ the main principle of wide ~baton ratiO, high rigidity, high kinernatic~, op tianSrhaion effidenCy, little bactheh, small rolurne and also ~es the Perfonnance act nsultor saxnnIe macaos.