CubeMars AK80-9 V3.0 100KV Robot Actuator

The CubeMars AK80-9 V3.0 is a compact robot joint actuator that combines a 100KV brushless motor, a 9:1 planetary gearbox, a magnetic encoder and a driver board in one 98 mm diameter, 38.5 mm deep housing. It suits legged robots, exoskeleton joints, robot arms, AGVs and research platforms that need torque-controlled joints without separate motor drives.

Key features

• 9 Nm rated and 22 Nm peak output torque on a 48 V supply
• Servo mode for position, speed and torque control, plus MIT hybrid mode for impedance-style joint control
• 16-bit magnetic encoder for fine closed-loop positioning
• Power and CAN share one XT30 2+2 connector; a separate UART port links to the configuration software
• Automatic parameter identification for PID tuning, with overcurrent, voltage and over-temperature protection

Specifications

• Rated voltage: 48 V
• Rated / peak torque: 9 Nm / 22 Nm
• Rated / no-load speed: 390 rpm / 570 rpm
• Rated / peak current: 12 A / 28 A
• Rated power: 368 W
• Gear ratio: 9:1 planetary
• Backlash: 15 arcmin
• Pole pairs: 21
• Motor torque constant: 0.095 Nm/A
• Phase-to-phase resistance: 160 mOhm
• Dimensions: 98 mm diameter x 38.5 mm
• Weight: 490 g
• Operating temperature: -20 to 50 °C
• In the box: actuator, power/CAN cable, serial cable, certificate of conformance

Each actuator draws up to 28 A at peak torque, so size the 48 V supply and wiring for the number of joints that can load up at the same time.