中文摘要：

从理论和实验两方面总结了RV减速器的国内外发展状况和关键研究技术,从齿形优化、传动精度、回差和扭转刚度四方面总结了RV减速器理论研究内容,从加工工艺和整机性能两方面进行了总结了RV减速器的实验研究内容,对RV减速器未来的研究工作进行了展望.

英文摘要：

From the aspects of theory and experience, the status of RV development and the key technologies is reviewed, and the development in the future is presented. The theoretical research content of the RY reducer is summarized from tooth profile optimization, transmission accuracy, return difference, and torsional stiffness. It also make summing on the experimental research content of RV reducer on the aspects of processing technic and engine performances. Future work on the RY reducer is prospected.