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RV传动装置是一个虚约束度为7的静不定系统,其机构尺寸的制造偏差将会严重地影响到其内部作用力的分布,机构尺寸偏差、作用力分布和其内部弹性因素的弹性位移这三个因素制约于一个复杂的系统之中,这一系统可由18个静力平衡方程和7个与虚约束相对应的变形协调条件方程来描绘．应用适当的数学规划方法求解这一包含25个独立未知变量的非线性系统可以同时得到其内部作用力和弹性位移数值.
The RV actuator is a statically indeterminate system with an imaginary constraint of 7 and its manufacturing tolerance of the dimensions will seriously affect the distribution of internal forces, the dimensions of the mechanism, the distribution of forces and the elastic displacements of its internal elasticities The three factors are constrained in a complex system that can be characterized by 18 static equilibrium equations and seven deformation coordination equations corresponding to the virtual constraints. Applying a suitable mathematical programming method to solve this nonlinear system containing 25 independent variables can obtain the values of internal forces and elastic displacements simultaneously.