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CubeMarsAKH7016 is a compact, highperformance drive module engineered for legged robots, exoskeletons, and AGV (Automated Guided Vehicle) platforms. Powered by FOC (FieldOriented Control) and equipped with a dual magnetic encoder system, it delivers precise motion control, high torque output, and realtime feedback in demanding environments.
With a robust 16:1 gear reduction, integrated CAN and UART interfaces, and support for 48V power systems, the AKH7016 offers exceptional scalability and responsiveness. Its low backlash design, builtin temperature monitoring, and high inertia rotor make it ideal for dynamic load conditions and precisiondriven applications.
FOC vector control for smooth and accurate motor response
Dual magnetic encoders (12bit internal + 21bit external) for highresolution feedback
16:1 gear ratio with up to 85 Nm peak torque
NTC temperature sensor for realtime thermal monitoring
CAN & UART communication for flexible integration
Low backlash (12 arcmin) for enhanced mechanical precision
Compact form factor for embedded system integration
Supports48V DC input, ideal for mobile platforms
Quiet operation with65 dB noise level (no load)
| Motor Type | Actuator Model | Technical Description |
|---|---|---|
| Shoulder Joint Motor | AK60-39 V3.0 | CubeMars shoulder joint motors are specifically designed for multi-axis rotation in humanoid robot shoulder joints, enabling complex arm movements such as lifting, rotation, extension, and abduction with ease. With high load capacity and high torque output, these motors allow the robots shoulder to reliably support the weight of the entire arm and any carried loads, especially in tasks involving lifting or transporting heavy objects. Their high precision and rapid response ensure accurate motion control and smooth, coordinated arm movements, making them ideal for delicate operations and human-robot collaboration. |
| Elbow Joint Motor | AK70-9 V3.0 | CubeMars elbow joint motors are specifically designed for flexion, extension, and rotation of humanoid robot arms, enabling robots to easily perform arm bending, stretching, and carrying tasks. With high precision and high torque performance, these motors ensure smooth, coordinated, and accurate angle control, making them ideal for delicate operations and complex tasks. The highly integrated and lightweight design allows for easy installation and maintenance, even within the limited space of the elbow joint. |
| Wrist Joint Motor | AK45-10 | CubeMars wrist joint motors are specifically designed for multi-axis movement in humanoid robot wrists. Featuring high torque density, high precision, and a lightweight design, these motors ensure precise control and smooth motion during demanding tasks such as rotation, flexion, and deviation. The compact structure is ideal for integration and maintenance in the extremely limited space of the wrist. Supporting servo, MIT, and other control modes, these motors meet the diverse needs of service, research, education, and medical applications. |
| Neck Joint Motor | AK40-10 | The CubeMars Neck Joint Motor Series is a high-performance actuator solution designed for humanoid robots and advanced robotic platforms. Featuring a compact structure, high torque density, and precise motion control, these actuators are ideal for robotic neck joint applications that require smooth movement, fast response, and stable positioning. Suitable for humanoid robot heads, service robots, and interactive robotic systems, the series enables natural multi-axis motion while maintaining high reliability and efficiency. |
| Hip Joint Motor | AKH70-48 V1.0 | CubeMars hip joint motors are specifically engineered for multi-axis coordination in the lower limbs and torso of humanoid robots. Featuring high torque density, exceptional precision, and lightweight construction, these motors enable smooth and accurate execution of complex leg movements such as forward/backward swing, lateral swing, and rotation. The compact design ensures easy integration and maintenance, while supporting multiple control modes including servo and MIT. |
| Knee Joint Motor | AK80-64 | CubeMars knee joint motors are specifically designed for flexion and extension in the knee area of a humanoid robots. With high load capacity and precise control performance, they enable robots to smoothly and steadily perform demanding actions such as bending, jumping, squatting, stair climbing, and running. Featuring a highly integrated and lightweight design, these motors maintain stable and flexible performance even under frequent movement and heavy load conditions at the knee joint. |
| Ankle Joint Motor | AKH70-16 V1.0 | The CubeMars Ankle Joint Motor Series is a high-performance actuator solution specifically designed for humanoid robots. Engineered for robotic ankle joint applications, these actuators feature high torque density, precise motion control, and excellent dynamic response to support stable walking, advanced balance control, and agile movement. With a compact and lightweight design, the series is ideal for humanoid robots and biped robots. |
| Robot Joint Module | AK10-9 V3.0 AK10-9 V2.0 KV100 AK10-9 V2.0 KV60 AK80-9 V3.0 AK80-8 AK80-6 AK80-64 AK70-10 AK70-9 V3.0 AK60-6 V3.0 AK60-6 V1.1 KV140 AK45-36 AK45-10 AK40-10 | CubeMars Robot Joint Modules integrate high-performance brushless motors, proprietary precision planetary gearboxes, and high-resolution encoders, specifically designed for exoskeletons and a wide range of robotic applications. Featuring a high level of integration and lightweight construction, these modules deliver precise and responsive motion control with true plug-and-play convenience, significantly enhancing robotic flexibility and operational efficiency. Supporting both servo and MIT control modes, motor control becomes simpler and more accurate. |
| Robot Dog Motor | AK10-9 V3.0 AK10-9 V2.0 KV100 AK10-9 V2.0 KV60 AK80-9 V3.0 AK80-8 AK80-6 AK80-64 AK70-10 AK60-6 V3.0 AK60-6 V1.1 AK45-36 AK45-10 AK40-10 | CubeMars robotic dog motors are specifically designed for use in research, inspection, security, and rescue applications. With a weight range of 340g to 960g, rated torque from 3Nm to 48Nm, gear ratios from 6:1 to 48:1, and rated voltage of 24/48V, these motors integrate high-performance brushless motors, proprietary planetary gearboxes, and high-precision encoders. Featuring high torque density, rapid response, and lightweight construction, they ensure precise joint movement for robotic dogs, enabling smooth turning, jumping, climbing, and reversing under heavy loads. CubeMars motors empower robotic dogs to easily handle complex terrains and diverse tasks. |
| Rehabilitation Robot Motor | AK10-9 V2.0 KV100 AK10-9 V2.0 KV60 RI80 V2.0 RI70 RI60 RI50 | CubeMars rehabilitation robot motors are specifically designed for precise, smooth, and safe motion control in medical rehabilitation and assistive devices. Featuring high-precision output, low noise, and a lightweight, compact design, they are easy to integrate into various rehabilitation systems. With outstanding reliability and stability, these motors provide a comfortable experience for patients. They are simple to maintain and support personalized rehabilitation solutions. |
| Parameter | Value |
|---|---|
| Application | Legged robots, exoskeletons, AGVs |
| Control Method | FOC |
| Operating Temperature | 20C to 50C |
| Noload Speed | 105 rpm |
| Gear Ratio | 16:1 |
| Back EMF | 0.78 Nm |
| Backlash | 12 arcmin |
| Temperature Sensor | NTC MF51B 103F3950 |
| Noise Level (No Load) | 65 dB |
| Controller Model | Base: 6350 / Advanced: 5550 |
| Peak Torque | 85 Nm |
| Peak Current | 23 ADC |
| Noload Current | 0.31 ADC |
| Motor Resistance | 0.56 |
| Motor Inductance | 0.46 mH |
| Rotor Inertia | 1170 gcm |
| Motor Constant | 0.31 Nm/V |
| Time Constant | 2.28 ms |
| Max Hub Load | 88.74 kg |
| Communication Interfaces | CAN: XT30PW (2+2)M / UART: A1257WRS3P |
| Power Interface | XT30PW (2+2)M |
| Rated Voltage | 48 V |
| Rated Current | 6.5 ADC |
| Rated Speed | 90 rpm |
| Rated Torque | 6.5 Nm |
| Weight | 879 g |
| Package Dimensions | 132 132 90 mm |
Joint actuation for legged robots
Power modules for wearable exoskeletons
Wheel hub drive for AGVs
Precision motion control in industrial robotics
Research and education platforms for motion experiments
R-LINK V3.0
Wiring Package V3.0
AKH70-16 KV41 actuator ( with driver board)*1
Power+CAN cables *1
Serial cables *1
Certification *1
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