Backlash and stiffness are important performance indicators of RV (Rotate Vector) reducers. A testing system for backlash and stiffness has been developed. A testing method is proposed that fixes the output end, loads the input end, and measures the rotation angle of the input end. By converting the input-output torque correspondence and input-output angle correspondence, the RV reducer data is processed. A fitting analysis model for the stiffness curve of the RV reducer is proposed, and tests are conducted on the RV-40E reducer to obtain its stiffness curve. Based on data analysis, the backlash and stiffness performance of the reducer meets the indicators. The results show that the testing system is reasonable.



　　RV reducers have characteristics such as large transmission ratio, high stiffness, and small backlash, thus quickly occupying cutting-edge fields such as industrial robots and aerospace. For precision robots and aviation components, when performing repeated reciprocating motions of the same cycle multiple times, strict requirements are placed on the backlash and stiffness of the transmission device to ensure positional accuracy. Backlash refers to the phenomenon where the output shaft lags behind the input shaft in motion when the input shaft reverses. Due to the existence of part machining, assembly errors, and load and temperature changes, backlash is inevitable. The backlash of an RV reducer typically measured usually refers to the output shaft rotation angle value caused by geometric factors such as tooth side clearance and bearing clearance in involute transmission and cycloid pinwheel transmission, when ±3% rated torque is applied to overcome internal friction and oil film resistance, and all components are in good contact. This is the idle backlash. Stiffness refers to the torsional deformation of the output shaft corresponding to the applied torque due to elastic deformation of the reducer components when the input shaft is fixed and torque is applied to the output shaft. The ratio of the applied torque to the corresponding elastic deformation torsion angle is usually defined as the stiffness of the reducer.



　　Testing is an indispensable important task in product development and production processes, and is the guarantee of production quality. Currently, research on testing of RV reducer backlash and stiffness is relatively limited, and there are problems such as low automation in testing. Therefore, this paper proposes an RV reducer backlash and stiffness testing system.