AK60-6
The AK60-6 is a lightweight quasi-direct drive actuator from T-Motor (CubeMars) AK series, featuring a 6:1 gearbox and integrated 14-bit magnetic encoder. Weighing 260 g, it delivers 15 Nm peak torque for an excellent power-to-weight ratio.
Supports MIT Cheetah control modes: position, velocity, and impedance. Communication via CAN 2.0 at 1 Mbaud. Popular in mobile robots and manipulators requiring high dynamics.
Classification
PMSM Joint Actuator · serves as: Joint Actuation, Locomotion Drive.
Which group AK60-6 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.