Nabtesco (Japan) invented and dominates the RV cycloidal reducer used in industrial robots. The RV series uses two-stage reduction (involute center gear plus cycloidal pin stage) with an integrated angular ball main bearing: RV-E spans sizes 6E-450E and RV-C 10C-500C, rated torque 72-4,410 N·m (RV-E) and 98-4,900 N·m (RV-C) at 15 r/min output, ratios 31-192, lost motion under 1 arcmin and shock capacity of 5x rated torque, the de-facto standard for heavy industrial robot joints.
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