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Technical Drawing
The CubeMars AK10-9 V2.0 KV100 robotic actuator achieves high integration among a brushless DC motor, proprietary planetary gearbox, and driver board, offering a compact structure and convenient installation. This module adopts a 9:1 planetary gear reduction, balancing response speed and output torque performance. It supports dual control modes—servo and force control—features plug-in connectors and automatic PID parameter identification, and includes built-in protection against overcurrent, overvoltage/undervoltage, and overheating, ensuring safer and more reliable operation in complex environments.
Motor Dimensions: Ф98*61.7mm
Motor Weight: 960g
Peak Torque: 38Nm
No-load Speed: 533rpm
Fully Integrated Design: Motor, gearbox, driver, and encoder are combined into a single unit, greatly simplifying wiring and installation
Dual Control Mode Support: Supports both servo and force control modes, suitable for a wider range of applications
Auto-tuning Capability: Module features adaptive PID parameter identification, reducing commissioning time
Comprehensive Protection: Built-in overcurrent, overvoltage/undervoltage, and overtemperature protection enhances reliability
Plug-in Connection Design: Simplifies connections between modules and external controllers, improving assembly efficiency
Wide Application Range: Recommended for legged robots, exoskeleton systems, AGVs, and joint modules
AK10-9 V2.0 KV100 Actuator (Comes standard with a driver board)x1
Power Cable x1
Serial CAN Cable x1
Certificate of Conformance x1
R-link V2.0
Driver Board V2.1
Wiring Package V2.0
| Application | Legged Robot,Exoskeleton,AGV | Peak torque (Nm) | 38 |
| Driving way | FOC | Peak current (ADC) | 41.2 |
| Operation ambient temperature | -20℃~50℃ | Kv (rpm/V) | 100 |
| Winding type | Delta | Kt (Nm/A) | 0.114 |
| Insulation class | C | Ke (V/krpm) | 9.9 |
| Insulation High-voltage | 1000V 5mA/2s | Phase to Phase resistance (mΩ) | 65.5 |
| Insulation resistance | 1000V10MΩ | Phase to Phase inductance (μH) | 60 |
| Phase | 3 | Inertia (gcm²) | 1002 |
| Pole pairs | 21 | Km (Nm/√W) | 0.45 |
| Reduction ratio | 9:1 | Mechanical time constant (ms) | 0.51 |
| Back drive(Nm) | 0.8 | Electrical time constant (ms) | 0.92 |
| Backlash (°) | 0.33 | Weight (g) | 960 |
| Temperature sensor | NTC MF51B 103F3950 | Maximum torque weight ratio (Nm/kg) | 39.6 |
| Noise dB 65CM away the motor | 70 | CAN connector | A1257WR-S-4P |
| Basic load ratings (dyn. C ) N | 2000 | UART connector | A1257WR-S-3P |
| Basic load ratings (stat.C0) N | 2520 | Power connector | XT30PW-M |
| Rated voltage (V) | 24/48 | Inner loop encoder type | Magnetic encoder |
| Rated torque (Nm) | 15 | Inner ring encoder resolution | 14bit |
| Rated speed (rpm) | 205/421 | Outer ring encoder type | Magnetic encoder |
| Rated current (ADC) | 16.2 | Outer ring encoder resolution | 15bit |
| Number of encoder | 2 |
| category | Model | Rated Voltage (V) | Rated Power (W) | Rated Torque (Nm) | Rated Current (A) | Rated Speed (RPM) | Peak Torque (Nm) | Peak Current (A) | No-load Speed (RPM) | Reduction Ratio | Weight (G) | Size (diameter *length) MM | Driver Board | Encoder | Operation |
| AK Series Robotic Actuator | AK10-9 V3.0 KV60 | 48 | 442 | 18 | 10.7 | 235 | 53 | 31.9 | 320 | 9:1 | 940 | Ф98*61.7 | Yes | Dual |  |
| AK Series Robotic Actuator | AK10-9 V2.0 KV60 | 24/48 | 430 | 18 | 10.6 | 109/228 | 48 | 29.8 | 160/320 | 9:1 | 960 | Ф98*61.7 | Yes | Dual | |
| AK Series Robotic Actuator | AK10-9 V2.0 KV100 | 24/48 | 720 | 15 | 16.2 | 205/421 | 38 | 41.2 | 266/533 | 9:1 | 960 | Ф98*61.7 | Yes | Dual | |
| AK Series Robotic Actuator | AK80-9 V3.0 KV100 | 48 | 368 | 9 | 12 | 390 | 22 | 28 | 570 | 9:1 | 490 | Ф98*38.5 | Yes | Single | |
| AK Series Robotic Actuator | AK80-8 KV60 | 48 | 230 | 10 | 6.9 | 243 | 25 | 21 | 360 | 8:1 | 570 | Ф98*43.9 | Yes | Dual | |
| AK Series Robotic Actuator | AK80-6 KV100 | 48 | 340 | 6 | 9.7 | 603 | 12 | 20 | 800 | 6:1 | 485 | Ф98*38.5 | Yes | Single | |
| AK Series Robotic Actuator | AK80-64 KV80 | 24/48 | 220 | 48 | 7 | 23/48 | 120 | 19 | 37/75 | 64:1 | 850 | Ф98*61.9 | Yes | Single | |
| AK Series Robotic Actuator | AK70-10 KV100 | 24/48 | 230 | 8.3 | 7.2 | 148/310 | 24.8 | 23.2 | 240/480 | 10:1 | 521 | Ф89*50.25 | Yes | Single | |
| AK Series Robotic Actuator | AK70-9 KV60 | 48 | 230 | 8.5 | 6.25 | 260 | 29.2 | 23.8 | 320 | 9:1 | 540 | Ф89*46 | Yes | Dual | |
| AK Series Robotic Actuator | AK60-6 V3.0 KV80 | 24/48 | 74 | 3 | 3.8 | 233/490 | 9 | 10.3/11.2 | 320/640 | 6:1 | 380 | Ф79*43 | Yes | Single | |
| AK Series Robotic Actuator | AK60-39 V3.0 KV80 | 48 | 176 | 24 | 4.5 | 70 | 72 | 17 | 98 | 39:1 | 750 | Ф79*67 | Yes | Dual | |
| AK Series Robotic Actuator | AK60-6 V1.1 KV80 | 24 | 74 | 3 | 3.8 | 233 | 9 | 13.1 | 320 | 6:1 | 368 | Ф79*39.5 | Yes | Single | |
| AK Series Robotic Actuator | AK60-6 V1.1 KV140 | 24 | 130 | 3 | 6.5 | 420 | 9 | 22.7 | 560 | 6:1 | 368 | Ф79*39.5 | Yes | Single | |
| AK Series Robotic Actuator | AK45-36 KV80 | 24 | 33 | 8 | 2 | 40 | 24 | 6.5 | 52 | 36:1 | 340 | φ55*54 | Yes | Single | |
| AK Series Robotic Actuator | AK45-10 KV75 | 24 | 39 | 2.5 | 2.1 | 150 | 7 | 5 | 180 | 10:1 | 260 | Ф53*43 | Yes | Single | |
| AK Series Robotic Actuator | AK40-10 KV170 | 24 | 59 | 1.3 | 2.7 | 370 | 4.1 | 7.3 | 435 | 10:1 | 185 | φ53*37 | Yes | Single | |
| AKE Series Quasi Direct Drive Motor | AKE90-8 KV35 | 48 | 700 | 55 | 21 | 120 | 170 | 72 | 210 | 8:1 | 1400 | Ф107.5*43.5 | No | |
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| AKE Series Quasi Direct Drive Motor | AKE80-8 KV30 | 48 | 188 | 12 | 4.8 | 150 | 30 | 12 | 195 | 8:1 | 570 | Ф87*32 | No | |
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| AKE Series Quasi Direct Drive Motor | AKE60-8 KV80 | 24 | 95 | 5 | 4.8 | 180 | 12.5 | 12 | 240 | 8:1 | 260 | Ф69*25 | No | |
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| AKA Series Robotic Actuator | AKA10-9 KV60 | 48 | 205 | 18 | 10.6 | 109 | 53 | 32 | 320 | 9:1 | 1060 | ∅100*70 | Yes | Single | |
| AKA Series Robotic Actuator | AKA60-6 KV80 | 24/48 | 62 | 3 | 4 | 200/400 | 9 | 11.2 | 320/640 | 6∶1 | 460 | Ф80*51.2 | Yes | Single | |
| AKH Series Hollow Shaft Planetary Actuator | AKH70-16 V1.0 KV41 | 48 | 245 | 26 | 6.5 | 90 | 85 | 23 | 105 | 16:1 | 879 | φ90*60.5 | Yes | Dual | |
| AKH Series Hollow Shaft Planetary Actuator | AKH70-48 V1.0 KV41 | 48 | 217 | 74 | 6 | 28 | 222 | 21 | 35 | 48:1 | 1396 | φ90*81.5 | Yes | Dual | |
