[{"data":1,"prerenderedAt":201},["ShallowReactive",2],{"\u002Fen\u002Fglossary\u002Frv-reducer":3},{"id":4,"title":5,"alternateName":6,"body":7,"description":191,"extension":192,"keywords":193,"meta":194,"navigation":195,"path":196,"seo":197,"stem":198,"updated":199,"__hash__":200},"glossary\u002Fglossary\u002Fen\u002Frv-reducer.md","RV Reducer (Cycloidal Reducer)","RV 减速器",{"type":8,"value":9,"toc":185},"minimark",[10,15,36,41,156,163,167],[11,12,14],"h1",{"id":13},"what-is-an-rv-reducer","What Is an RV Reducer?",[16,17,18,19,23,24,27,28,31,32,35],"p",{},"An ",[20,21,22],"strong",{},"RV reducer"," (a member of the ",[20,25,26],{},"cycloidal"," gear family) uses a ",[20,29,30],{},"two-stage compound structure: a planetary front stage feeding a cycloidal pin-wheel output stage",". Because the cycloidal disc engages many pins simultaneously, it achieves ",[20,33,34],{},"30–200:1 ratios"," with the highest torsional rigidity and shock overload capacity (commonly 2–5x rated) among the three precision reducer families, covering tens to thousands of N·m. The name comes from Nabtesco's RV series and is now generic for the architecture.",[37,38,40],"h2",{"id":39},"harmonic-vs-rv-vs-planetary-the-three-way-split","Harmonic vs. RV vs. Planetary: The Three-Way Split",[42,43,44,69],"table",{},[45,46,47],"thead",{},[48,49,50,54,56,63],"tr",{},[51,52,53],"th",{},"Dimension",[51,55,22],{},[51,57,58],{},[59,60,62],"a",{"href":61},"\u002Fen\u002Fglossary\u002Fharmonic-drive","Harmonic drive",[51,64,65],{},[59,66,68],{"href":67},"\u002Fen\u002Fglossary\u002Fplanetary-gearbox","Planetary gearbox",[70,71,72,87,101,115,129,142],"tbody",{},[48,73,74,78,81,84],{},[75,76,77],"td",{},"Single-unit ratio",[75,79,80],{},"30–200:1",[75,82,83],{},"50–160:1",[75,85,86],{},"3–10:1 (stackable)",[48,88,89,92,95,98],{},[75,90,91],{},"Rigidity \u002F shock",[75,93,94],{},"High",[75,96,97],{},"Flexspline is relatively shock-sensitive",[75,99,100],{},"Good",[48,102,103,106,109,112],{},[75,104,105],{},"Backlash",[75,107,108],{},"~1 arcmin",[75,110,111],{},"Near zero",[75,113,114],{},"Small but present",[48,116,117,120,123,126],{},[75,118,119],{},"Weight \u002F size",[75,121,122],{},"Large and heavy",[75,124,125],{},"Compact",[75,127,128],{},"Moderate",[48,130,131,134,137,139],{},[75,132,133],{},"Backdrivability",[75,135,136],{},"Poor",[75,138,136],{},[75,140,141],{},"Good at low ratios",[48,143,144,147,150,153],{},[75,145,146],{},"Typical joints",[75,148,149],{},"Industrial robot base\u002Fshoulder",[75,151,152],{},"Wrists, humanoid arms",[75,154,155],{},"Humanoid\u002Fquadruped legs",[16,157,158,159,162],{},"A common application pattern is ",[20,160,161],{},"RV at industrial robot bases, harmonic drives in lightweight arms, and low-ratio planetary gears in backdrivable legs",". The final choice still depends on load, precision, mass, and shock requirements.",[37,164,166],{"id":165},"why-rv-reducers-are-less-common-in-humanoid-legs","Why RV Reducers Are Less Common in Humanoid Legs",[16,168,169,170,174,175,179,180,184],{},"A six-axis industrial robot is bolted to the floor, so its base joint benefits from RV rigidity and load capacity. A humanoid must carry every joint it uses: at comparable torque levels, an RV solution is typically heavier than a low-ratio planetary design, reducing whole-robot ",[59,171,173],{"href":172},"\u002Fen\u002Fglossary\u002Ftorque-density","torque density",". Higher friction and lower backdrivability also increase uncertainty in current-based output-torque estimation. Humanoid legs that prioritize low mass and compliant control therefore often use planetary ",[59,176,178],{"href":177},"\u002Fen\u002Fglossary\u002Fquasi-direct-drive","quasi-direct-drive (QDD)"," actuators. BXI's ",[59,181,183],{"href":182},"\u002Fen\u002Fmotors\u002Fadvanced-motors","85\u002F70\u002F50-series joint actuators"," use a 19.5:1 planetary design with up to 150 N·m peak torque.",{"title":186,"searchDepth":187,"depth":187,"links":188},"",2,[189,190],{"id":39,"depth":187,"text":40},{"id":165,"depth":187,"text":166},"An RV reducer combines planetary and cycloidal stages for high rigidity, load capacity, and shock tolerance in industrial robot base and shoulder joints.","md","RV reducer, cycloidal reducer, RV reducer vs harmonic drive, industrial robot gearbox, robot reducer",{},true,"\u002Fglossary\u002Fen\u002Frv-reducer",{"title":5,"description":191},"glossary\u002Fen\u002Frv-reducer",null,"Wu3pV6VVSkc_eKz3EM0ck72XmXgM9pVSnQhqAASnEHQ",1785156467460]