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AK60-6 KV80 is a super compact, yet quite powerful high precision (for its speed) 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): 0.81 / 368
- Peak torque (Nm): 9
- Rated torque (Nm): 3
- Peak current (ADC): 13.1
- Rated current (ADC): 3.8
- Rated voltage (V): 24
- Rated speed (rpm): 233
- Kv (rpm/V): 80
- Kt (Nm/A): 0.135
- Ke (V/krpm): 12.8
- Planetary gear reduction ratio: 6:1
- Backdrive (Nm): 0.2
- Backlash (°): 0.55
- Noise (dB 65 cm away from the motor): 55
- Maximum torque / weight ratio (Nm/kg): 24.46
- Drive control method: FOC (field-oriented control)
- Operation temperature (°C): -20 ~ +50
- Winding type: Star
- Insulation class: C
- Insulation high-voltage: 500V 5mA/2s
- Insulation resistance: 500V10MΩ
- Phase: 3
- Pole pairs: 14
- Temperature sensor: NTC MF51B 103F3950
- Basic load ratings (dyn. C) N: 3150
- Basic load ratings (stat. C₀) N: 4500
- Phase to phase resistance (mΩ): 605
- Phase to phase inductance (µH): 415
- Inertia (gcm²): 243.5
- Km (Nm/√W): 0.17
- Mechanical time constant (ms): 0.81
- Electrical time constant (ms): 0.69
- Inner loop encoder type: Magnetic encoder
- Inner ring encoder resolution: 14-bit
- Outer ring encoder type: -
- Outer ring encoder resolution: -
- Number of encoders: 1
- CAN connector: A1257-WR-S-4P
- UART connector: A1257-WR-S-3P
- Power connector: XT30PW-M
