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Rotate vector (RV) reducers have advantages of high torque ratio, and extremely reliable functioning under dynamic load conditions, and so forth, and they are extensively used in precision transmissions, such as industrial robots. The torsional stiffness of RV reducers is a main parameter affecting the meshing vibration and transmission performance. In addition, the variable loads and tooth modifications have significant influence on the torsional stiffness of RV reducers. In this paper, a new method of calculating torsional stiffness for RV reducers considering variable loads and tooth modifications is presented. The dynamic stress and deformation of meshing teeth are calculated based on Hertz formulation, and the number of meshing teeth is determined by analyzing the dynamic stress of meshing teeth. Then, the torsional stiffness of RV reducers is obtained. Finite element method is applied to calculate the deformation of cycloidal-pin gear in the maximum force position δ max . The influence of variable applied loads and different tooth modifications of cycloidal-pin gear transmission on torsional stiffness are also studied. The results show that variable applied loads and different tooth modifications influence the torsional stiffness of RV reducers by changing teeth deformation and clearance, respectively.

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