纳博特斯克 RV 系列精密减速器（RV-E / RV-C）
Vendor: 纳博特斯克 Nabtesco
Product: RV 系列摆线针轮精密减速器（RV-E / RV-C）
纳博特斯克（日本）是工业机器人 RV 摆线减速器的发明者与全球龙头。RV 系列为两级减速（渐开线中心轮+行星/摆线针轮）构型，内置角接触球主轴承，RV-E 含 6E-450E 八规格、RV-C 含 10C-500C 七规格；15 r/min 输出下额定转矩 RV-E 72-4410 N·m、RV-C 98-4900 N·m，减速比覆盖 31-192；背隙/失动量 <1 arcmin，冲击承载达 5 倍额定转矩，刚度高、振动低，是六轴工业机器人一二轴与重载关节的事实标准。
| type | RV cycloidal (two-stage) precision reducer, integral angular ball bearing |
| models | RV-E: 6E/20E/40E/80E/110E/160E/320E/450E; RV-C: 10C/27C/50C/100C/200C/320C/500C |
| backlash | lost motion <1 arcmin |
| structure | two-stage: involute center gear + cycloidal pin stage; crankshafts supported both sides |
| applications | industrial robot joints (base/shoulder axes), machine tools, factory automation |
| main_bearing | integrated angular contact ball bearing (high moment rigidity) |
| rated_torque | RV-E 72-4,410 N·m; RV-C 98-4,900 N·m @15 r/min output |
| shock_capacity | 5x rated torque (momentary) |
| reduction_ratio | RV-E 31-192.4; RV-C base 27-37.3 (overall per configuration) |