目的 了解RV传动机构的载荷分布，研究系统的力学性能。方法 对精密机器人用2K-V型RV传动系统的结构进行简单介绍，分析RV传动的特点；对RV传动中的外啮合行星传动机构和内啮合摆线针轮传动机构的受力情况分别进行研究，并考虑摆线针轮的初始啮合间隙，多齿啮合原理以及曲柄轴转臂轴承的作用力。结果 短幅系数K1的选取对摆线轮受力大小有直接的关系，摆线轮齿与针齿的啮合作用力与该啮合点处摆线轮齿实际弹性变形成线性正比关系。结论 RV传动系统在机器人领域具有广泛的应用前景，研究力学特性对RV传动机构的精度设计、制造加工提供了一定理论依据。

The work aims to understand the load distribution of the RV transmission mechanism and study the system’s mechanical properties. First of all, the structure of type 2K-V RV transmission system for precision robot and the characteristics of RV transmission were briefly introduced and analyzed. The stress situation of the external gearing planetary transmission mechanism and the internal gearing cycloid-pin wheel transmission mechanism in RV transmission were lucubrated respectively. In addition, the initial meshing clearance, the multi-tooth meshing principle and the force of the crankshaft rotary arm bearing were considered. The selection of the short-amplitude coefficient K1 was directly related to the force of the cycloidal gear, the meshing force between the cycloid gear teeth and the pin gear was linearly proportional to the actual elastic deformation of the cycloid gear teeth at the meshing point. RV transmission system has a wide application prospect in robot field, and the research on mechanical properties provides a theoretical basis for the accuracy design, manufacturing and processing of RV transmission mechanism.