RV減(jian)速(su)(su)器(qi)(qi)作(zuo)(zuo)為工(gong)業(ye)機器(qi)(qi)人系統的(de)精密(mi)減(jian)速(su)(su)驅動裝置，在(zai)工(gong)業(ye)機器(qi)(qi)人產業(ye)化方面(mian)起到關鍵性(xing)(xing)作(zuo)(zuo)用。就RV減(jian)速(su)(su)器(qi)(qi)驅動過(guo)程中零部件的(de)彈性(xing)(xing)變形(xing)、激勵因素(su)以及(ji)復雜的(de)接(jie)觸關系對減(jian)速(su)(su)器(qi)(qi)動態特(te)性(xing)(xing)的(de)影(ying)響(xiang)問題(ti)，綜述了RV減(jian)速(su)(su)器(qi)(qi)固有特(te)性(xing)(xing)、動態響(xiang)應、動力穩定性(xing)(xing)、系統參數(shu)對系統動態特(te)性(xing)(xing)的(de)影(ying)響(xiang)等(deng)方面(mian)的(de)研(yan)究內容(rong)，闡(chan)述了國內外學(xue)者對RV減(jian)速(su)(su)器(qi)(qi)動態特(te)性(xing)(xing)的(de)研(yan)究進展，指出了建立多個虛擬(ni)樣機模型以及(ji)如何提升對虛擬(ni)樣機的(de)實(shi)驗(yan)驗(yan)證是(shi)RV減(jian)速(su)(su)器(qi)(qi)動態特(te)性(xing)(xing)研(yan)究的(de)熱點問題(ti)。

  RV（Rotate Vector)減速(su)器(qi)驅(qu)動(dong)(dong)(dong)(dong)是在(zai)傳(chuan)統擺線針輪驅(qu)動(dong)(dong)(dong)(dong)基礎上發(fa)展(zhan)起來(lai)的(de)(de)(de)一(yi)種二級減速(su)驅(qu)動(dong)(dong)(dong)(dong)，按照庫氏分(fen)類法(fa)，該(gai)驅(qu)動(dong)(dong)(dong)(dong)屬(shu)于2K-V型(xing)行星(xing)驅(qu)動(dong)(dong)(dong)(dong)。與其(qi)它行星(xing)驅(qu)動(dong)(dong)(dong)(dong)相比，具有(you)(you)驅(qu)動(dong)(dong)(dong)(dong)比范(fan)圍大(da)、驅(qu)動(dong)(dong)(dong)(dong)機構體積小(xiao)、質(zhi)量輕(qing)、承載(zai)能力強、剛(gang)度(du)大(da)、壽(shou)命長(chang)、驅(qu)動(dong)(dong)(dong)(dong)效(xiao)率、驅(qu)動(dong)(dong)(dong)(dong)平穩、運(yun)動(dong)(dong)(dong)(dong)精度(du)、回差小(xiao)等諸多特(te)點，應(ying)用于工業機器(qi)人等精密驅(qu)動(dong)(dong)(dong)(dong)領域。為了充分(fen)發(fa)揮RV減速(su)器(qi)效(xiao)的(de)(de)(de)驅(qu)動(dong)(dong)(dong)(dong)效(xiao)率、承載(zai)能力及可靠(kao)性(xing)(xing)(xing)等優越性(xing)(xing)(xing)，對其(qi)動(dong)(dong)(dong)(dong)態性(xing)(xing)(xing)研究(jiu)具有(you)(you)重(zhong)要的(de)(de)(de)工程(cheng)實(shi)際(ji)意義(yi)，但是RV減速(su)器(qi)發(fa)展(zhan)歷史短(duan)，機構緊湊和工作原理特(te)，其(qi)動(dong)(dong)(dong)(dong)態特(te)性(xing)(xing)(xing)方面的(de)(de)(de)研究(jiu)還有(you)(you)待進(jin)一(yi)步發(fa)展(zhan)。因此，對RV減速(su)器(qi)動(dong)(dong)(dong)(dong)態特(te)性(xing)(xing)(xing)的(de)(de)(de)研究(jiu)就顯(xian)得尤(you)為重(zhong)要。