---
title: "CubeMars AK10-9 (V3.0 KV60) specs"
description: "QDD / Proprioceptive actuator from CubeMars (T-Motor) (China). Peak torque 53 Nm, rated 18 Nm, weight 960 g, torque density 55.2 Nm/kg, price $798.90."
canonical: https://actuatorlist.com/actuators/cubemars-ak10-9
last-updated: 2026-11-01T14:05:43.000Z
---
# AK10-9 (V3.0 KV60) by CubeMars (T-Motor)

> QDD / Proprioceptive actuator from CubeMars (T-Motor) (China). Peak torque 53 Nm, rated 18 Nm, weight 960 g, torque density 55.2 Nm/kg, price $798.90.

## Specifications

| Spec | Value |
| --- | --- |
| Category | QDD / Proprioceptive |
| Peak torque | 53 Nm |
| Rated torque | 18 Nm |
| Max speed | 235 rpm |
| Gear ratio | 9:1 |
| Weight | 960 g |
| Torque density | 55.2 Nm/kg |
| Price | $798.90 |
| Price per Nm | $15.1 |
| Backdrivable | yes |
| Backlash | n/a |
| Voltage | 24-48 V |
| Peak current | n/a |
| Communication | CAN |
| Control modes | position, velocity, torque, mit |
| Encoder | 14-bit magnetic (motor-side) |
| Integrated driver | yes |
| Availability | in production |
| Data status | Catalog headline specs spot-checked: confirm revision |

## Size a joint

- [Motor torque calculator](/tools/motor-torque-calculator?solve=power&t=18&n=235): **443 W** of shaft power at its rated 18 N·m and 235 rpm.
- [Robot arm torque calculator](/tools/robot-arm-torque-calculator?L=0.4,0.35,0.12&m=1.2,0.8,0.3&a=0.96,0.5,0&p=2): **33.8 N·m** at the shoulder with its 960 g at the elbow of a 2 kg-payload arm.

## Use cases

- quadruped leg
- robot arm
- legged robot

## Notes

Largest AK-series QDD, for big-dog legs and heavy arms. V3.0 KV60: 53 Nm peak / 18 Nm rated, no-load 320 rpm / rated 235 rpm at 48V (max\_speed\_rpm is the rated figure). Earlier V2.0 KV60 rated 48 Nm peak / 18 Nm. Net weight 960 g (V2.0 confirmed at 0.96 kg; V3.0 is the same motor and gearbox with only an updated driver board, so weight is unchanged). Price $798.90 is the CubeMars store sale price for the V3.0 KV60 (regular $818.90), checked Oct 2026; RobotShop has listed it near $1,140.

## Sources

- [https://www.cubemars.com/product/ak10-9-v3-0-kv60-robotic-actuator.html](https://www.cubemars.com/product/ak10-9-v3-0-kv60-robotic-actuator.html)
- [https://www.cubemars.com/images/file/20240523/1716429938564781.pdf](https://www.cubemars.com/images/file/20240523/1716429938564781.pdf)
- [https://servodatabase.com/servo/cubemars/ak10-9-v3-0-kv60](https://servodatabase.com/servo/cubemars/ak10-9-v3-0-kv60)
- [https://www.cubemars.com/product/ak10-9-v2-0-kv60-robotic-actuator.html](https://www.cubemars.com/product/ak10-9-v2-0-kv60-robotic-actuator.html)
- [https://store.cubemars.com/products/ak10-9-v3-0-kv60](https://store.cubemars.com/products/ak10-9-v3-0-kv60)

## Similar QDD / Proprioceptive actuators

- [GIM8108-8 (Steadywin)](https://actuatorlist.com/actuators/steadywin-gim8108-8): 58.7 Nm/kg
- [AK70-10 (KV100) (CubeMars (T-Motor))](https://actuatorlist.com/actuators/cubemars-ak70-10): 47.6 Nm/kg
- [AK80-9 (V3.0 KV100) (CubeMars (T-Motor))](https://actuatorlist.com/actuators/cubemars-ak80-9): 45.4 Nm/kg
- [GO-M8010-6 (Unitree)](https://actuatorlist.com/actuators/unitree-go-m8010-6): 44.7 Nm/kg
- [CyberGear Micromotor (Xiaomi)](https://actuatorlist.com/actuators/xiaomi-cybergear): 37.9 Nm/kg

## Catalog comparisons

Catalog specifications and source caveats, not compatibility recommendations.

- [AK10-9 (V3.0 KV60) vs AK70-10 (KV100)](/comparisons/cubemars-ak10-9-vs-cubemars-ak70-10)
- [AK10-9 (V3.0 KV60) vs AK80-9 (V3.0 KV100)](/comparisons/cubemars-ak10-9-vs-cubemars-ak80-9)
- [AK10-9 (V3.0 KV60) vs GIM8108-8](/comparisons/cubemars-ak10-9-vs-steadywin-gim8108-8)

[Browse actuator comparisons](/compare).

## Machine-readable

- JSON: https://actuatorlist.com/api/v1/actuators/cubemars-ak10-9
- Catalog index for agents: https://actuatorlist.com/llms.txt