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The CubeMars AK60-6 is a lightweight quasi-direct-drive (QDD) actuator combining a BLDC motor, 6:1 planetary gearbox, encoder and FOC driver in a 380 g package. It delivers about 3 N·m continuous and ~9 N·m peak torque with CAN-bus control and MIT-mode field-oriented control, popular for small legged robots and lightweight arms.
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