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Taking RV-40E reducer as the object，the dynamic characteristics of RV reducer under free mode are studied by combining modal simulation and modal analysis experiment. Firstly，the RV reducer is modeled and simulated based on Ansys，and the simulation results of natural frequency and mode shape are obtained. After comparing the experimental modalities of the domestic and Nabtesco RV-40E reducer，the test results show that the first-order modal of domestic RV-40E reducer is generally lower than that of Nabtesco，with a maximum difference of 11.1%. At the same time，the simulation and experimental results are compared. The largest domestic difference in the first-order mode is -5.8%，and that of Nabtesco is +5.9%. The above research provides effective data and methods for the structural optimization design and modal performance analysis of the RV reducer.