CubeMars AK Series Actuator

An all-in-one joint module from CubeMars combining a planetary reducer and a driver in one unit.

The AK series is a line of all-in-one joint modules from CubeMars, the robotics-actuator brand of motor maker T-Motor, packing a brushless motor, a planetary reducer, an encoder, and a driver into a single housing — in a model name like AK80-9, the “9” denotes a 9:1 gear ratio. Taking the AK80-9 as an example, it has a rated torque of 9 N·m, a peak torque of 18 N·m (rated at 22 N·m in the V3.0 version), and weighs about 485 g. It supports CAN communication and a “MIT mode” that sends target position, velocity, feedforward torque, and stiffness/damping gains in a single command; its low gear ratio gives it good backdrivability, and it's commonly used in university quadruped robots, exoskeletons, and robot-arm prototypes.

ExampleSending Kp, Kd, a target position, and a feedforward torque to an AK80-9 simultaneously in MIT mode implements joint impedance control.

Also called

AK80-9, T-Motor AK Motor, AK Series Power Module

Related

Quasi-Direct Drive · MIT Mode · MIT Mini Cheetah Actuator · Joint Actuator Module · DAMIAO DM-J4310-2EC Joint Motor · Unitree GO-M8010-6 Motor

Sources

AK80-9 KV100 Robotic Actuator（CubeMars 官网） (Chinese)
AK80-9 V3.0 Robotic Actuator（CubeMars 官网） (Chinese)

As of

2026-09