Taking RV reducer as the research object, combined with its structural characteristics and transmission principle, the system dynamic transmission error mathematical model was established and solved. The 3D assembly model of RV reducer was established and imported into ADAMS simulation software. The New-Mark method in MATLAB was used to calculate the output speed obtained from the simulation, so the transmission simulation error of the reducer was obtained, and the frequency spectrum conversion was carried out to compare with the data calculated by the mathematical model. The RV reducer transmission error test platform was built to measure the transmission error of the RV reducer. The accuracy of the simulation model and mathematical model was verified by comparing the experimental results, simulation results and mathematical model calculation results.