CubeMars AK70-9 V3.0 KV60 Integrated Joint Actuator
Vendor: CubeMars 三瑞智能
Product: AK70-9 V3.0 KV60

The AK70-9 V3.0 is a mid-size integrated joint actuator from CubeMars (a Sanrui Intelligent brand): brushless motor + 9:1 planetary gearbox + driver in one unit with dual-encoder closed loop, 8.5 N·m rated and 29.2 N·m peak torque at 260 rpm rated speed, weighing only 540 g with an 89 mm diameter. It supports MIT/servo dual modes and FOC control with over-current, over/under-voltage and over-temperature protection, for cobots, humanoid large joints and research platforms.
| bus | CAN |
| models | AK70-9 V3.0 |
| supply | DC 48 V |
| weight | 540 g |
| control | FOC, MIT/servo dual mode |
| encoder | dual encoder (motor + output) |
| dimensions | Ф89×49 mm |
| peak_torque | 29.2 N·m |
| rated_power | 231 W |
| rated_speed | 260 rpm |
| peak_current | 23.8 A |
| rated_torque | 8.5 N·m |
| no_load_speed | 320 rpm |
| rated_current | 6.25 A |
| reduction_ratio | 9:1 |