中文摘要：

采用光栅法对日本RV-40E减速器进行传动精度的测试，并采集数据得到RV-40E减速器系统传动误差曲线，基于动力学分析软件ADAMS建立机器人用RV减速器的虚拟样机：综合考虑间隙、加工误差、装配误差、弹性变形等因素，对所建立的虚拟样机进行仿真分析，得到机器人用RV减速器的传动误差曲线，对比仿真结果与实测结果，验证和修改所建立的动力学模型，为机器人用RV减速器虚拟样机仿真研究奠定基础。

英文摘要：

The transmission accuracy test of the Japan RV-40E reducer is done with the Grating method, and get the RV- dOE reducer system transmission error curve by collect data. The virtual prototype of the RV reducer used in the robot is set up based on dynamics analysis software ADAMS, considering clearance, the processing error, assembly error, elastic deformation and so on, simulation analysis on the virtual prototype, get the transmission error curve of the RV reducer used in the robots. Comparing the simulation results and measured results, verify and modify the established dynamic model, which has laid the foundation for the virtual prototype simulation of the RV reducer used in the robot.