AK10-9
The AK10-9 is a quasi-direct drive actuator from T-Motor (CubeMars) AK series, featuring a 9:1 planetary gearbox and integrated magnetic encoder. It delivers a peak torque of 38 Nm at a weight of only 477 g, making it one of the lightest actuators in its torque class.
The MIT Cheetah controller supports position, velocity, impedance, and MIT mode. Communication is via CAN 2.0 at 1 Mbaud. Widely used in legged robots and research manipulators.
Classification
PMSM Joint Actuator · serves as: Joint Actuation, Locomotion Drive.
Which group AK10-9 belongs to and how it is built
A subcategory covering joint actuators — integrated drive units combining a motor, gearbox, encoder, and control electronics in a single module, used in the joints of robot limbs and torsos.
A PMSM (Permanent Magnet Synchronous Motor) joint actuator is an integrated drive module that uses a permanent magnet synchronous motor to provide precise position, velocity, and torque control at robot joints. It offers high power density, low losses, and deterministic torque response, making it a popular choice in robotic manipulators, exoskeletons, and humanoid robots. The unit typically integrates an encoder, gearbox, and motor controller into a single compact assembly.