CubeMars AKH70-16 V1.0 KV41 Motor
CubeMars AKH70-16 V1.0 KV41 Motor
Product Description
The AKH70-16 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
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Actuator Size: Ф90*60.5mm
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Hollow Bore Diameter: 7mm
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Actuator Weight: 879g
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Peak Torque: 78Nm
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No-Load Speed: 105RPM
Product Highlights
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High Torque Output
Rated torque of 26 Nm with peak torque up to 85 Nm, delivering high joint output in a compact form factor.
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Highly Integrated Design
Brushless motor, planetary gearbox, encoders, and drive electronics integrated into a single unit, reducing wiring complexity and simplifying system integration.
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Multiple Control Modes
Supports SERVO and MIT control modes, with coordinated position, velocity, and acceleration control. Adaptive PID tuning reduces setup time during commissioning.
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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.
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Comprehensive Protection Features
Built-in protection against overcurrent, overvoltage/undervoltage, and overtemperature to support stable operation under abnormal conditions.
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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.
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Customization Support
CubeMars offers customization options across parameters, interfaces, and functional features to meet specific application requirements.
Package List
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AKH70-16 KV41 actuator ( with driver board)*1
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Power+CAN cables *1
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Serial cables *1
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Certification *1
Related Accessories
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R-LINK V3.0
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Wiring Package V3.0
| PRODUCT PARAMETERS | |||
| Application | Legged Robot, Exoskeleton, AGV |
Peak Torque (N·m) | 78 |
| Driving Way | FOC | Peak Current (ADC) | 19.5 |
| Operation Ambient Temperature |
-20~50℃ | No-Load Speed (RPM) | 105 |
| Winding Type | Delta | KV (RPM/V) | 41 |
| Insulation Level | F | KT (N·m/A) | 0.23 |
| Insulation High-Voltage | 500V 5mA/2s | KE (V/KRPM) | 2.4 |
| Insulation Resistance | 500V 10MΩ | Phase to Phase Resistance (Ω) |
0.56 |
| Number Of Slots | 36 | Phase to Phase Inductance (mH) |
0.6 |
| Pole Pairs | 21 | Rotor Inertia (gcm²) | 1170 |
| Reduction Ratio | 16:1 | Motor Constant (N·m/√W) | 0.31 |
| Back Drive (N·m) | 0.78 | Mechanical Time Constant (ms) |
2.28 |
| Backlash (arcmin) | 12 | Maximum Torque Density (N·m/kg) |
88.74 |
| Temperature Sensor | NTC MF51B 103F33950 | CAN Connector | XT30PW (2+2)-M |
| Noise dB (65cm Away The Motor) |
65 | UART Connector | A1257WR-S-3P |
| Basic Dynamic Load Rating (CN) |
6350 | Power Connector | XT30PW (2+2)-M |
| Basic Static Load Rating (C₀N) |
5550 | Inner Loop Encoder Type | Magnetic |
| Rated Voltage (V) | 48 | Inner Loop Encoder Resolution |
21bit |
| Rated Torque (N·m) | 26 | Outer Loop Encoder Type | Magnetic |
| Rated Speed (RPM) | 90 | Outer Loop Encoder Resolution |
21bit |
| Rated Current (ADC) | 6.5 | Number of Encoder | 2 |
| Weight (g) | 879 | ||