CubeMars AK70-9 V3.0 KV60

The AK70-9 V3.0 is a robotic actuator that combines a brushless DC motor, a 9:1 planetary gearbox, dual encoders and the driver in one housing. Because no separate driver board, coupling or encoder has to be mounted, it greatly simplifies joint design.

Key features

• Dual encoder. Position is read both at the motor input and at the output shaft. This makes gearbox backlash visible and improves positioning accuracy.
• Four control modes. It works with position, speed and torque control and the MIT hybrid mode, and adapts to different control algorithms.
• Automatic PID identification. PID parameters are identified with one click in the PC software, with quick switching between servo and MIT modes.
• Built-in protection. Overcurrent, overvoltage, undervoltage and overtemperature protection are inside the housing.
• Plug-in connector. Shortens assembly compared with conventional wiring and reduces the risk of connection errors.

Applications

Typical applications include robot joint systems, humanoid robots, collaborative robots, legged robot platforms, AGV and AMR systems, medical devices and university R&D projects.

Is it enough for your project?

The AK70-9 V3.0 delivers 8.5 Nm continuous and 29.2 Nm peak torque. For example, a 2.5 kg load at the end of a 30 cm arm needs about 7.4 Nm of static torque (2.5 × 9.81 × 0.30). That load stays within the actuator's rated torque.

With peak torque more than three times the rated torque, it leaves a wide margin for short loads such as jumps and hard braking. That is why it is widely used in the knees and hips of quadruped robots. Its no-load speed is 320 rpm, so for joints that need very fast swings the AK80-9 V3.0 may be a better fit.

How it compares to similar models

• AK70-10 KV100. At a similar rated torque (8.3 Nm) it is faster at 480 rpm, but its peak torque is 24.8 Nm and it is heavier at 621 g.
• AK80-9 V3.0 KV100. Faster, with 9 Nm rated torque and 570 rpm, and lighter at 490 g. It has a single encoder and 22 Nm peak torque.
• AK10-9 V3.0 KV60. Twice as powerful with 18 Nm rated and 53 Nm peak torque, in return it weighs 940 g.

Frequently asked questions

What is the dual encoder for?

There are two encoders, one on the motor side and one at the output shaft. The output encoder reads the real joint angle independently of gearbox backlash and improves positioning accuracy.

How much gearbox backlash is there?

According to the manufacturer, 18 arcminutes, or about 0.3 degrees.

Can it be turned by hand?

Yes. Backdrive torque is about 0.8 Nm, so the joint can be moved by hand when unpowered.

Is the driver included?

Yes. The driver board, dual encoder and planetary gearbox are inside the housing. The box includes a power and CAN cable and a serial communication cable.

In the box

• AK70-9 V3.0 KV60 robotic actuator with integrated driver
• Power and CAN communication cable
• Serial communication cable
• Certificate of conformity

Related products

To complete your setup, see the CubeMars R-Link V3.0, Driver Board V3.0 Large Board and Wiring Package V3.0 products.

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