中文摘要：

机器人用高精度RV（Rotate Vector）减速器的曲轴存在制造装配误差,为了保证RV减速器的传动精度、承载能力、总体回差和传动效率等要求,必须控制曲轴的设计精度.分析了曲轴偏心距和偏心距误差对RV减速器传动精度的影响,建立了曲轴偏心距和偏心距误差影响的数学模型,使用MATLAB进行了仿真计算.结果表明：某型RV减速器曲轴偏心距应为1.3mm,其偏心距误差负向分布有助于提高精度,加载后有助于减小回差间隙.

英文摘要：

Due to the manufacturing and assembly errors from crankshafts of high-precision robotic RV reducer,the design precision should be controlled for transmission precision in terms of loading capacity,overall hysteresis and transmission efficiency.By analyzing the crankshaft eccentricity and eccentricity errors on RV reducer precision,related mathematical models are established using MATLABTM simulation.As such,it is indicated from results that the crankshaft eccentricityis especially 1.3 mm.In particular,the negative error distributionenhances the precision,whereas the loading reduces the hysteresis clearance.