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AK10-9 KV100 is a very high torque, high precision, compact servo actuator (brushless DC motor with planetary gear and integrated controller) for robotics. Its key specifications:
- Controller: MIT Mini Cheetah open-source controller
- Applications: quadruped robot / legged robot, AGV / AMR (automated guided vehicle / autonomous mobile robot), robotic arm / cobot (collaborative robot)
- Weight (lb / g): 2.12 / 960
- Peak torque (Nm): 38
- Rated torque (Nm): 15
- Peak current (ADC): 41.2
- Rated current (ADC): 16.2
- Rated voltage (V): 24
- Rated speed (rpm): 205
- Kv (rpm/V): 100
- Kt (Nm/A): 0.114
- Ke (V/krpm): 9.9
- Planetary gear reduction ratio: 9:1
- Backdrive (Nm): 0.8
- Backlash (°): 0.33
- Noise (dB 65 cm away from the motor): 70
- Maximum torque / weight ratio (Nm/kg): 39.6
- Drive control method: FOC (field-oriented control)
- Operation temperature (°C): -20 ~ +50
- Winding type: Delta
- Insulation class: C
- Insulation high-voltage: 1000V 5mA/2s
- Insulation resistance: 1000V10MΩ
- Phase: 3
- Pole pairs: 21
- Temperature sensor: NTC MF51B 103F3950
- Basic load ratings (dyn. C) N: 2000
- Basic load ratings (stat. C₀) N: 2520
- Phase to phase resistance (mΩ): 65.5
- Phase to phase inductance (µH): 60
- Inertia (gcm²): 1002
- Km (Nm/√W): 0.45
- Mechanical time constant (ms): 0.51
- Electrical time constant (ms): 0.92
- Inner loop encoder type: Magnetic encoder
- Inner ring encoder resolution: 14-bit
- Outer ring encoder type: Magnetic encoder
- Outer ring encoder resolution: 15-bit
- Number of encoders: 2
- CAN connector: A1257-WR-S-4P
- UART connector: A1257-WR-S-3P
- Power connector: XT30PW-M
