The AKH70-48 Hollow Planetary Actuator Module integrates a brushless motor, a proprietary planetary gearbox, encoders, and a drive system into a compact, highly integrated unit. The hollow-shaft design supports internal cable routing, while dual interfaces enable multi-actuator daisy-chain configurations.
The module supports multiple control modes, enabling coordinated control of position, velocity, and acceleration. With adaptive PID control, it reduces tuning complexity while delivering stable output and precise control in a compact form factor, making it well suited for multi-joint robotic systems and automation equipment.
Core Data
Actuator Size: Ф90*81.5mm
Hollow Bore Diameter: 7mm
Actuator Weight: 1396g
Peak Torque: 222Nm
No-Load Speed: 35RPM
Product Highlights
High Torque Output
Rated torque of 74 Nm with peak torque up to 222 Nm, delivering high joint output in a compact form factor.
Highly Integrated Design
Brushless motor, planetary gearbox, encoders, and drive electronics integrated into a single unit, reducing wiring complexity and simplifying system integration.
Multiple Control Modes
Supports SERVO and MIT control modes, with coordinated position, velocity, and acceleration control. Adaptive PID tuning reduces setup time during commissioning.
Dual Encoder Feedback
Integrated dual 21-bit magnetic encoders (motor-side and output-side) provide reliable closed-loop control. Output position is retained after power loss, ensuring positioning accuracy and system robustness.
Comprehensive Protection Features
Built-in protection against overcurrent, overvoltage/undervoltage, and overtemperature to support stable operation under abnormal conditions.
Flexible Interface Design
XT30PW (2+2) connector integrates power and CAN communication.
UART interface (A1257WR-S-3P) is provided for PC-based configuration and parameter tuning.
Customization Support
CubeMars offers customization options across parameters, interfaces, and functional features to meet specific application requirements.
Related Accessories
R-LINK V3.0
Wiring Package V3.0
AKH Series Highly Integrated Actuator Module
AKH70-48 integrates a brushless motor, a three-stage 48:1 planetary gearbox, dual encoders, and an onboard driver into a single compact unit—reducing wiring complexity, simplifying system integration, and improving overall reliability.
The AKH series features a hollow-shaft design that allows power and signal cables to be routed through the center, reducing external wiring while maintaining robust transmission performance.
Dual CAN Interfaces - Multi-Actuator
Daisy -Chain Configurations
Simplifying wiring and reducing the number of required cables in multi-actuator systems. This allows multiple motors to communicate over a single bus, streamlining integration, improving scalability, and minimizing potential points of failure—ideal for complex robotic arms or modular actuator networks.
The actuator delivers high output in a lightweight (1396kg) package—maintaining stable continuous operation while meeting the demanding requirements of joint-driven systems for both performance and efficiency.
222N·m
Peak Torque
159N·m/kg
Maximum Torque Density
21-bit Dual-Encoder Design with Motor-Side & Load-Side Feedback
By providing independent position feedback at the motor and output stages, the system isolates transmission errors from the control loop, resulting in predictable motion, higher control accuracy, and enhanced system safety.
