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<p>Rotate vector (RV) reducers are extensively utilized in industrial robots, aerospace, and other high-precision fields due to their compact structure, high load-carrying capacity, and superior transmission accuracy—with transmission accuracy being a core performance indicator. Existing research has predominantly focused on single-stage cycloid-pin gear transmission or simplified equivalent model construction, failing to establish a systematic theoretical framework for the influence mechanism of component manufacturing and assembly errors on overall transmission accuracy, nor explicit correlation equations linking these errors to the reducer’s comprehensive precision. To address this critical gap, this study proposes an analytical error modeling method accounting for multi-pin engagement. It investigates the variation law of the angle between the cycloid gear’s rotating arm and the line of action of pin forces under multi-pin engagement conditions. Based on the characteristics of gear meshing, manufacturing and assembly errors are equivalent to the meshing line, explicitly establishing the relationship between original errors and the overall transmission precision of the RV reducer. The proposed model and formulas are validated by experimental results. Finally, the Sobol sensitivity analysis method is employed to systematically investigate each error source under both uniform and normal distribution conditions, quantitatively identifying the primary error sources affecting transmission precision.</p>

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Error modeling and sensitivity analysis for rotary vector reducers

  • 期刊论文

  • 发表日期：

    2026年3月30日

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  • Wang Jin,
  • Yong Chen,
  • JianYun Mo,
  • FuChen Yu,
  • Li Luo,
  • GuangChao Lv

摘要

Rotate vector (RV) reducers are extensively utilized in industrial robots, aerospace, and other high-precision fields due to their compact structure, high load-carrying capacity, and superior transmission accuracy—with transmission accuracy being a core performance indicator. Existing research has predominantly focused on single-stage cycloid-pin gear transmission or simplified equivalent model construction, failing to establish a systematic theoretical framework for the influence mechanism of component manufacturing and assembly errors on overall transmission accuracy, nor explicit correlation equations linking these errors to the reducer’s comprehensive precision. To address this critical gap, this study proposes an analytical error modeling method accounting for multi-pin engagement. It investigates the variation law of the angle between the cycloid gear’s rotating arm and the line of action of pin forces under multi-pin engagement conditions. Based on the characteristics of gear meshing, manufacturing and assembly errors are equivalent to the meshing line, explicitly establishing the relationship between original errors and the overall transmission precision of the RV reducer. The proposed model and formulas are validated by experimental results. Finally, the Sobol sensitivity analysis method is employed to systematically investigate each error source under both uniform and normal distribution conditions, quantitatively identifying the primary error sources affecting transmission precision.