According to the operating characteristics of the cycloidal pinwheel (RV) reducer and the operating conditions of the friction pair,synthetic hydrocarbon base oil was selected as the main base oil,the naphthenic base oil was added to improve the compatibility of the base oil and soap,and tackifier was increased to ensure the adhesion of the product and the viscosity index of the base oil.The hydroperoxide decomposition antioxidant (thioester type),free base capture type (amine type,phenol type) antioxidant compound antioxidant and MoDTC-based compound were chosen to improve the oxidation resistance,friction reduction and extreme pressure performance of the grease,respectively.Under the extreme operating conditions of robot load of 2 100 N,full stroke,room temperature ((23 ± 2) ℃),and 24 h of uninterrupted operation,the grease was subjected to a performance test of 8 000 h.During the test,the robot has run smoothly,and precise positioning,indicating that the grease has excellent lubrication protection performance for the reducer and meets the requirements of the robot.