--- title: "CubeMars AK80-9 (V3.0 KV100) specs" description: "QDD / Proprioceptive actuator from CubeMars (T-Motor) (China). Peak torque 22 Nm, rated 9 Nm, weight 485 g, torque density 45.4 Nm/kg, price $580." canonical: https://actuatorlist.com/actuators/cubemars-ak80-9 last-updated: 2026-11-01T14:05:43.000Z --- # AK80-9 (V3.0 KV100) by CubeMars (T-Motor) > QDD / Proprioceptive actuator from CubeMars (T-Motor) (China). Peak torque 22 Nm, rated 9 Nm, weight 485 g, torque density 45.4 Nm/kg, price $580. ## Specifications | Spec | Value | | --- | --- | | Category | QDD / Proprioceptive | | Peak torque | 22 Nm | | Rated torque | 9 Nm | | Max speed | 570 rpm | | Gear ratio | 9:1 | | Weight | 485 g: Revision conflict: retained catalog value; confirm installed revision. Density inherits mass uncertainty. | | Torque density | 45.4 Nm/kg: Revision conflict: retained catalog value; confirm installed revision. Density inherits mass uncertainty. | | Price | $580 | | Price per Nm | $26.4 | | Backdrivable | yes | | Backlash | n/a | | Voltage | 24-48 V | | Peak current | 28 A | | Communication | CAN | | Control modes | position, velocity, torque, mit | | Encoder | 14-bit magnetic (motor-side): Revision conflict: retained catalog value; confirm installed revision. Density inherits mass uncertainty. | | Integrated driver | yes | | Availability | in production | | Data status | Revision conflict: unresolved | **Legacy catalog / revision conflict:** retained catalog fields are not revalidated by this editorial review. Catalog mass is 485 g and motor-side encoder is 14-bit; the [reviewed V3.0 KV100 model page](https://www.cubemars.com/product/ak80-9-v3-0-robotic-actuator.html) lists 490 g and 16-bit inner sensing, while the [AK family manual V3.2.0](https://www.cubemars.com/data/cms/202602/ak-series-prodcut-manual-v3-2-0-for-ak-3-0-robotic-actuator.pdf) lists 21-bit. Confirm the installed revision before using these values or derived torque density; the documentation discrepancy is unresolved. ## Size a joint - [Motor torque calculator](/tools/motor-torque-calculator?solve=power&t=9&n=570): **537 W** of shaft power at its rated 9 N·m and 570 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=0.485,0.5,0&p=2): **31.9 N·m** at the shoulder with its 485 g at the elbow of a 2 kg-payload arm. ## Use cases - quadruped leg - robot arm - exoskeleton ## Notes The canonical MIT-Cheetah-style QDD module. V3.0 KV100 rates 22 Nm peak / 9 Nm continuous (earlier V1/V2 were 18 Nm peak). No-load 570 rpm, rated 390 rpm at 48V. Supports CubeMars 'servo' and 'MIT' hybrid modes; needs an external CAN adapter. Price ~$580 street (RobotShop sale $579.90, list $599.90). ## Engineering comparison Read the [AK80-9 V3.0 KV100 versus original CyberGear comparison](/comparisons/cubemars-ak80-9-vs-xiaomi-cybergear) for source-qualified efficiency, thermal duty, precision and modeling boundaries. Hardware/firmware identity and unresolved document conflicts matter; this is not a matched bench test. See the [selection guide](/guides/robot-actuator-selection) for a proposed validation protocol. ## Engineering evidence **Revision scope:** AK80-9 V3.0 KV100; installed hardware/firmware unconfirmed - Document review, not independent bench validation. Retained catalog mass and encoder conflicts remain unresolved. ### Efficiency **Evidence: manufacturer.** Manufacturer 48 VDC KV100 torque sweep plots efficiency, output power, current and varying speed; no numeric efficiency is digitized here. **Scope / unknowns:** Electrical-input boundary, temperature, cooling, duration, uncertainty and graph revision are unspecified. Complete bus-to-output efficiency remains unknown. **Source locators:** - [Manufacturer operating curve](https://www.cubemars.com/images/20250424/1745462214935457.jpg): Image title AK80-9 KV100@48VDC; efficiency/output power/current/speed axes ### Thermal duty **Evidence: manufacturer.** Manual exposes separate motor/MOS temperature and fault telemetry, and serial input voltage/current versus output and d/q currents. **Scope / unknowns:** Telemetry is not calibrated winding-hotspot metrology. Mounting-specific repeated duty, overload recovery and cooldown remain unknown; board and module limits are different scopes. **Source locators:** - [AK manual V3.2.0](https://www.cubemars.com/data/cms/202602/ak-series-prodcut-manual-v3-2-0-for-ak-3-0-robotic-actuator.pdf): PDF pp47,50, section 4.3; temperature/fault and serial feedback fields ### Precision **Evidence: manufacturer.** Manual p4 specifies 16-bit sensing, up to 21-bit with custom firmware; p8 still lists unqualified 21-bit. **Scope / unknowns:** This does not reconcile the retained 14-bit catalog or installed revision. Loaded output accuracy and bidirectional repeatability remain unknown; encoder resolution is not accuracy. **Source locators:** - [AK manual V3.2.0](https://www.cubemars.com/data/cms/202602/ak-series-prodcut-manual-v3-2-0-for-ak-3-0-robotic-actuator.pdf): PDF p4 sensing/firmware qualifier; p8 family driver inner-loop encoder specification; p7 compatibility table ### Modeling **Evidence: manufacturer.** Official archive contains AK80-9 V3.0.STEP geometry; manual documents no-load identification, parameter export and version inspection. **Scope / unknowns:** CAD and configuration are not calibrated dynamics. Published AK80-9 regressions use Dephy FASTER, not the stock V3.0 driver; neither coefficients nor bandwidth transfer. Held-out stock-model validation remains unknown. **Source locators:** - [Official CAD](https://www.cubemars.com/data/cms/202602/ak80-9-v3-0-robotic-actuator-3d-drawing.zip): AK80-9 V3.0.STEP; AP214 HEADER identifies V3.0 KV100 - [AK manual V3.2.0](https://www.cubemars.com/data/cms/202602/ak-series-prodcut-manual-v3-2-0-for-ak-3-0-robotic-actuator.pdf): PDF pp17–21, sections 3.1.1–3.1.2; no-load identification and heating warning - [Nesler et al. 2022](https://locolab.robotics.umich.edu/documents/NeslerGregg-RAL2022.pdf): PDF pp4–5, section III.B–D, Fig7; legacy AK80-9/Dephy regression - [Zhao et al. 2024](https://locolab.robotics.umich.edu/documents/ZhaoWaltersGregg-BioRob2024.pdf): PDF pp2–5, section II.C–D, Table I; Dephy FASTER test configuration ## Sources - [https://www.cubemars.com/product/ak80-9-v3-0-robotic-actuator.html](https://www.cubemars.com/product/ak80-9-v3-0-robotic-actuator.html) - [https://www.cubemars.com/images/file/20240523/1716429938564781.pdf](https://www.cubemars.com/images/file/20240523/1716429938564781.pdf) - [https://www.cubemars.com/goods.php?id=982](https://www.cubemars.com/goods.php?id=982) - [https://www.robotshop.com/products/cubemars-ak80-9-v30-kv100-ak-series-robotic-actuator](https://www.robotshop.com/products/cubemars-ak80-9-v30-kv100-ak-series-robotic-actuator) ## Similar QDD / Proprioceptive actuators - [GIM8108-8 (Steadywin)](https://actuatorlist.com/actuators/steadywin-gim8108-8): 58.7 Nm/kg - [AK10-9 (V3.0 KV60) (CubeMars (T-Motor))](https://actuatorlist.com/actuators/cubemars-ak10-9): 55.2 Nm/kg - [AK70-10 (KV100) (CubeMars (T-Motor))](https://actuatorlist.com/actuators/cubemars-ak70-10): 47.6 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 AK80-9 (V3.0 KV100)](/comparisons/cubemars-ak10-9-vs-cubemars-ak80-9) - [AK70-10 (KV100) vs AK80-9 (V3.0 KV100)](/comparisons/cubemars-ak70-10-vs-cubemars-ak80-9) - [AK80-6 (KV100) vs AK80-9 (V3.0 KV100)](/comparisons/cubemars-ak80-6-vs-cubemars-ak80-9) - [AK80-9 (V3.0 KV100) vs GIM8108-8](/comparisons/cubemars-ak80-9-vs-steadywin-gim8108-8) [Browse actuator comparisons](/compare). ## Machine-readable - JSON: https://actuatorlist.com/api/v1/actuators/cubemars-ak80-9 - Catalog index for agents: https://actuatorlist.com/llms.txt