CubeMars AKH70-16 KV41

The AKH70-16 is a hollow-shaft planetary actuator module. It combines a brushless DC motor, a CubeMars planetary gearbox, dual encoders and the driver in one housing, with cables running through the shaft.

Key features

• Hollow shaft. Power, communication and sensor cables pass straight through the 7 mm bore inside the actuator, so there is no cable clutter at the joint.
• Dual 21-bit magnetic encoders. Separate readings on the motor side and at the output shaft improve closed-loop control accuracy.
• Position kept through power loss. The output position is remembered, so re-homing is needed less often.
• Daisy-chain connection. A dual connection interface lets several actuators be chained, making multi-axis setups easier.
• Servo and MIT control modes. Position, speed and acceleration parameters can be controlled together.
• Adaptive PID. Less manual tuning and faster commissioning.
• XT30PW connector and UART interface. Power and CAN communication share one connection, and parameters are set from a computer.
• Built-in protection. Overcurrent, overvoltage, undervoltage and overtemperature protection are inside the housing.

Applications

Typical applications include humanoid robots, collaborative robots, multi-axis robot arms, automation equipment, AGV and AMR platforms and compact robot designs that need internal wiring.

Is it enough for your project?

The AKH70-16 is an actuator with 26 Nm continuous and 78 Nm peak torque, with cables running through the shaft. For example, a 6 kg load at the end of a 40 cm arm needs about 23.5 Nm of static torque (6 × 9.81 × 0.40). That load stays within the actuator's rated torque.

Its main difference is the hollow shaft. Power, communication and sensor cables pass through the 7 mm bore inside the joint, which prevents cable wind-up in rotating joints and clutter outside. That makes it well suited to the ankle and knee joints of humanoid robots and to multi-axis robot arms.

How it compares to similar models

• AKH70-48 V1.0 KV41. The more powerful model in the same family, with 74 Nm rated and 222 Nm peak torque. In return it weighs 1,396 g and is slower at 35 rpm.
• AK10-9 V3.0 KV60. A lower class with 18 Nm rated torque, but three times faster at 320 rpm. It has no hollow shaft.
• AK80-64 KV80. Stronger and lighter with 48 Nm rated torque and 850 g, but the cables run outside.

Frequently asked questions

How big is the cable bore?

7 mm. Power, CAN and sensor cables can pass through it.

Is the position lost when power is cut?

No. The output position is remembered, so re-homing at startup is needed less often.

How are several actuators connected?

Thanks to the dual connection interface, actuators can be daisy-chained. Power and CAN communication share the XT30PW connector, and parameters are set over UART.

Which encoders does it use?

Two 21-bit magnetic encoders, one on the motor side and one at the output shaft.

In the box

• AKH70-16 KV41 hollow-shaft actuator module with integrated driver
• Power and CAN communication cable
• Serial communication cable
• Certificate of conformity

Related products

To complete your setup, see the R-Link V3.0 programming interface and the Wiring Package V3.0 cable set.

Products in stock are dispatched within 3 business days from our warehouse in Turkey.

Shipping cost and delivery time to your country are shown at checkout. For models not listed in stock, ask our technical team about the lead time.

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