The developed "Cycloidal Pin Gear teeth Surface Topology Modification Software" can automatically set the topological structure of the teeth surface, meeting the requirements of high transmission accuracy and small return error for robot RV reducers. The developed Robot RV Reducer "CNC cycloidal gear forming and grinding machine" and "CNC pin gear housing forming and grinding machine" can replace imported equipment, and can accurately grind the core components of the Robot RV Reducer, cycloidal gear and pin gear housing, with a grinding accuracy of up to level 3.