The RV reducer consists of a front stage of a planetary gear reducer and a rear stage of a cycloidal pinwheel reducer. The RV reducer has a compact structure, high transmission ratio, and a self-locking function under certain conditions. It is one of the most commonly used reducers, with low vibration, low noise, and low energy consumption. RV reducers are composed of cycloidal pinwheels and planetary supports, and are widely used in industrial robots, machine tools, medical testing equipment, satellite receiving systems, and other fields due to their small size, strong impact resistance, high torque, high positioning accuracy, low vibration, and high reduction ratio