CubeMars AK60-6 V1.1 KV80 KV140 Robotic Actuator High Integrated Dynamic Module for Legged Robot Exoskeleton

SKU AK60-6-V1.1 Category Motor Tag Motor Brand: T-MOTOR

CubeMars AK60-6 V1.1 KV80 KV140 Robotic Actuator High Integrated Dynamic Module for Legged Robot Exoskeleton

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he CubeMars AK60-6 V1.1 robotic actuator integrates a brushless DC motor, planetary gearbox, and driver board into a compact, easy-to-install package. Featuring a 6:1 planetary gear reduction, it delivers stable torque while maintaining high response speed. The module supports multi-loop control (position, speed, torque, and MIT hybrid mode), features plug-and-play connectivity, and includes adaptive PID tuning. Integrated protection against overcurrent, overvoltage/undervoltage, and overheating ensures reliable operation in demanding environments.

Model: AK60-6 V1.1 KV80
Application: Legged Robot, Exoskeleton, AGV
Driving Way: FOC
Operation Ambient Temperature: -20℃~50℃
Winding Type: Star
Insulation Class: C
Insulation High-Voltage: 500V 5mA/2s
Insulation Resistance: 500V 10MΩ
Phase: Three Phase
Pole Pairs: 14
Reduction Ratio: 6:1
Back Drive (Nm): 0.2
Backlash (°): 0.55
Temperature Sensor: NTC MF51B 103F3950
Noise (65cm Away from the Motor): 55dB
Basic Load Ratings (Dynamic C) (N): 3150
Basic Load Ratings (Static C0) (N): 4500
Rated Voltage (V): 24
Rated Torque (Nm): 3
Rated Speed (rpm): 233
Rated Current (ADC): 3.8
Peak Torque (Nm): 9
Peak Current (ADC): 13.1
Kv (rpm/V): 80
Kt (Nm/A): 0.135
Ke (V/krpm): 12.8
Phase to Phase Resistance (mΩ): 605
Phase to Phase Inductance (μH): 415
Inertia (gcm²): 243.5
Km (Nm/√W): 0.17
Mechanical Time Constant (ms): 0.81
Electrical Time Constant (ms): 0.69
Weight (g): 368
Maximum Torque Weight Ratio (Nm/kg): 24.46
CAN Connector: A1257WR-S-4P
UART Connector: A1257WR-S-3P
Power Connector: XT30PW-M
Inner Loop Encoder Type: Magnetic Encoder
Inner Ring Encoder Resolution: 14bit
Outer Ring Encoder Type: –
Outer Ring Encoder Resolution: –
Number of Encoder: 1

Model: AK60-6 V1.1 KV140
Application: Legged Robot, Exoskeleton, AGV
Peak Torque (Nm): 9
Driving Way: FOC
Peak Current (ADC): 22.7
Operation Ambient Temperature: -20℃~50℃
Kv (rpm/V): 140
Winding Type: Delta
Kt (Nm/A): 0.078
Insulation Class: C
Ke (V/krpm): 7.5
Insulation High-Voltage: 500V 5mA/2s
Phase to Phase Resistance (mΩ): 202
Insulation Resistance: 500V 10MΩ
Phase to Phase Inductance (μH): 138
Phase: 3
Inertia (gcm²): 243.5
Pole Pairs: 14
Km (Nm/√W): 0.17
Reduction Ratio: 6:1
Mechanical Time Constant (ms): 0.81
Back Drive (Nm): 0.2
Electrical Time Constant (ms): 0.68
Backlash (°): 0.55
Weight (g): 368
Temperature Sensor: NTC MF51B 103F3950
Maximum Torque Weight Ratio (Nm/kg): 24.46
Noise (65cm Away from the Motor): 60dB
CAN Connector: A1257WR-S-4P
Basic Load Ratings (Dynamic C) (N): 3150
UART Connector: A1257WR-S-3P
Basic Load Ratings (Static C0) (N): 4500
Power Connector: XT30PW-M
Rated Voltage (V): 24
Inner Loop Encoder Type: Magnetic Encoder
Rated Torque (Nm): 3
Inner Ring Encoder Resolution: 14bit
Rated Speed (rpm): 420
Outer Ring Encoder Type: –
Rated Current (ADC): 6.5
Outer Ring Encoder Resolution: –
Number of Encoder: 1