# CubeMars AK70-10

Human: https://roboterminal.app/hardware/cubemars-ak70-10 · Agent: https://roboterminal.app/hardware/cubemars-ak70-10.md

QDD joint. 10:1 planetary, 24.8 Nm peak / 8.3 Nm rated, 24/48 V, CAN+UART, 521 g. Open quadruped and exo default next to the AK80-9.

- Family: T-Motor
- Layer: Actuate
- Maker: T-Motor
- Buses: can, uart
- Typical: $400–650

## Field note

> Munro is explicit on the architecture: they're using planetary gear reduction.

- https://roboterminal.app/posts/g1-joint-five-parts · https://roboterminal.app/posts/g1-joint-five-parts.md
- Same class: QDD planetary, not a strain-wave. The exploded G1 is the shown joint. This SKU is the one you can buy.

## Buy

- [CubeMars AK70-10](https://www.cubemars.com/goods-1031-AK70-10.html)

## Compatible

- [Arduino Mega 2560](https://roboterminal.app/hardware/arduino-mega) (bus: UART)
- [BeaglePlay](https://roboterminal.app/hardware/beagleplay) (bus: UART)
- [BNO085](https://roboterminal.app/hardware/bno085) (paired: Called out as a known pair)
- [Compute Module 5](https://roboterminal.app/hardware/cm5) (bus: UART)
- [Damiao DM-J4310-2EC](https://roboterminal.app/hardware/damiao-j4310) (paired: Called out as a known pair)
- [ESP32](https://roboterminal.app/hardware/esp32) (bus: UART)
- [ESP32-C3](https://roboterminal.app/hardware/esp32-c3) (bus: UART)
- [ESP32-C6](https://roboterminal.app/hardware/esp32-c6) (bus: UART)
- [ESP32-CAM](https://roboterminal.app/hardware/esp32-cam) (bus: UART)
- [ESP32-H2](https://roboterminal.app/hardware/esp32-h2) (bus: UART)
- [ESP32-P4](https://roboterminal.app/hardware/esp32-p4) (bus: UART)
- [ESP32-S2](https://roboterminal.app/hardware/esp32-s2) (bus: UART)
- [ESP32-S3](https://roboterminal.app/hardware/esp32-s3) (bus: UART)
- [Jetson AGX Orin](https://roboterminal.app/hardware/orin-agx) (bus: CAN · UART)
- [Jetson Orin Nano Super](https://roboterminal.app/hardware/orin-nano) (stack: Open QDD leg)
- [Jetson Orin NX / AGX](https://roboterminal.app/hardware/orin-nx) (bus: CAN · UART)
- [MCP2515 / TCAN](https://roboterminal.app/hardware/mcp2515) (bus: CAN)
- [nRF52840](https://roboterminal.app/hardware/nrf52840) (bus: UART)
- [NXP i.MX 8M Plus](https://roboterminal.app/hardware/imx8mp) (bus: CAN · UART)
- [OpenMV Cam H7 Plus](https://roboterminal.app/hardware/openmv-h7) (bus: UART)
- [Pixhawk 6C](https://roboterminal.app/hardware/pixhawk-6c) (bus: CAN · UART)
- [Qorvo DW3000](https://roboterminal.app/hardware/dw3000) (bus: UART)
- [Raspberry Pi 5](https://roboterminal.app/hardware/pi5) (bus: UART)
- [RK3588](https://roboterminal.app/hardware/rk3588) (bus: UART)
- [RP2040 / Pico](https://roboterminal.app/hardware/rp2040) (bus: UART)
- [RP2350 / Pico 2](https://roboterminal.app/hardware/rp2350) (bus: UART)
- [RPLidar A1 / A2](https://roboterminal.app/hardware/rplidar) (bus: UART)
- [STM32F4](https://roboterminal.app/hardware/stm32f4) (bus: CAN · UART)
- [STM32G4](https://roboterminal.app/hardware/stm32g4) (bus: CAN · UART)
- [STM32H7](https://roboterminal.app/hardware/stm32h7) (bus: CAN · UART)
- [STM32WB / WL](https://roboterminal.app/hardware/stm32wb) (bus: UART)
- [T-Motor AK80-9](https://roboterminal.app/hardware/ak80-9) (paired: Called out as a known pair)
- [Teensy 4.1](https://roboterminal.app/hardware/teensy41) (bus: CAN · UART)
- [u-blox ZED-F9P](https://roboterminal.app/hardware/zed-f9p) (bus: UART)
- [VectorNav VN-100](https://roboterminal.app/hardware/vn-100) (bus: UART)
- [XIAO ESP32-S3 Sense](https://roboterminal.app/hardware/xiao-s3-sense) (bus: UART)

## Stacks

- Open QDD leg — Backdrivable joints. Feel the ground. Harmonic would hide the impact.