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Technical Drawing
The CubeMars AK80-9 KV100 robotic actuator integrates a high-performance brushless DC motor, planetary gearbox, driver board, and encoder into a compact, easy-to-install unit. As a key model in the CubeMars AK series, it delivers balanced performance in torque and speed. It supports servo and MIT hybrid control modes (position, speed, torque), features auto PID parameter identification, and includes integrated protection against overcurrent, overvoltage/undervoltage, and overheating for stable and reliable operation in complex environments. With strong torque output, it is an ideal choice for quadruped robots, exoskeletons, joint drives, and similar applications.
Motor Dimensions: Ф98*38.5mm
Motor Weight: 485g
Peak Torque: 18Nm
No-load Speed: 533rpm
Fully Integrated Design: Combines motor, gearbox, driver, and encoder into one unit, minimizing external wiring and component complexity
Balanced Performance: 9:1 gear reduction provides an optimal balance between speed and torque for medium-load applications
High Peak Torque: Delivers up to 18 Nm peak torque output
Dual Control Mode Support: Switchable between servo and MIT hybrid control modes for flexible adaptation to various control requirements
Auto PID / Parameter Adaptation: Simplifies tuning process and improves development efficiency
Comprehensive Protection: Built-in overcurrent, overvoltage/undervoltage, and overtemperature protection enhances system safety
Plug-in Interface: Reduces cable clutter, improves module interchangeability and connection reliability
Wide Application Range: Suitable for exoskeletons, quadruped robots, robotic arm joints, and other applications
AK80-9 KV100 Actuator 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) | 18 |
| Driving way | FOC | Peak current (ADC) | 22.3 |
| Operation ambient temperature | -20℃~50℃ | Kv (rpm/V) | 100 |
| Winding type | Delta | Kt (Nm/A) | 0.105 |
| Insulation class | H | Ke (V/krpm) | 10.5 |
| Insulation High-voltage | 1000V 5mA/2s | Phase to Phase resistance (mΩ) | 170 |
| Insulation resistance | 1000V10MΩ | Phase to Phase inductance (μH) | 57 |
| Phase | Three Phase | Inertia (gcm²) | 607 |
| Pole pairs | 21 | Km (Nm/√W) | 0.25 |
| Reduction ratio | 9:01 | Mechanical time constant (ms) | 0.94 |
| Back drive(Nm) | 0.51 | Electrical time constant (ms) | 0.34 |
| Backlash (°) | 0.19 | Weight (g) | 485 |
| Temperature sensor | None | Maximum torque weight ratio (Nm/kg) | 37 |
| Noise dB 65CM away the motor | 55 | CAN connector | A1257WR-S-4P |
| Basic load ratings (dyn. C ) N | 2760 | UART connector | A1257WR-S-3P |
| Basic load ratings (stat.C0) N | 2810 | Power connector | XT30PW-M |
| Rated voltage (V) | 48 | Inner loop encoder type | Magnetic encoder |
| Rated torque (Nm) | 9 | Inner ring encoder resolution | 14bit |
| Rated speed (rpm) | 390 | Outer ring encoder type | - |
| Rated current (ADC) | 10.3 | Outer ring encoder resolution | - |
| Number of encoder | 1 |
| 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 |
| 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 | AK80-9 KV100 | 48 | 330 | 9 | 10.3 | 390 | 18 | 22.3 | 533 | 9:1 | 485 | 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 KV140 | 24 | 130 | 3 | 6.5 | 420 | 9 | 22.7 | 560 | 6:1 | 368 | Ф79*39.5 | Yes | Single |
| 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 | 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 | 200 | φ53*37 | Yes | Single |
| AKE Series Robotic Actuator | AKE90-8 KV35 | 48 | 700 | 55 | 21 | 120 | 170 | 72 | 210 | 8:1 | 1400 | Ф107.5*43.5 | No | |
| AKE Series Robotic Actuator | AKE80-8 KV30 | 48 | 188 | 12 | 4.8 | 150 | 30 | 12 | 195 | 8:1 | 570 | Ф87*32 | No | |
| AKE Series Robotic Actuator | AKE60-8 KV80 | 24 | 95 | 5 | 4.8 | 180 | 12.5 | 12 | 240 | 8:1 | 260 | Ф69*25 | No | |
| 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 |
AK Series Driver and Control Manual v1.0.15.X.pdf
For the latest default parameters and firmware downloads for the AK series,
please refer to: https://www.cubemars.com/article.php?id=261
