CubeMars RI70 KV95 Frameless Inrunner Torque Motor | 24–48V, 2.68Nm Peak, 270g, Cobot/Exoskeleton Ready

Overview

The CubeMars RI70 KV95 is a high-performance frameless inrunner torque motor specifically designed for collaborative robot arms, exoskeletons, and other precision-driven robotic applications. Operating at 24V to 48V, it delivers a peak torque of 2.68 Nm, a rated torque of 0.94 Nm, and supports high-speed operation up to 3912 RPM. The RI70 motor features lower cogging torque, 0.01° ultra-high resolution control, and a compact frameless architecture, offering flexible integration into various structural designs. Available in two versions—with or without Hall sensor—it supports high-precision applications requiring real-time feedback and adaptive dynamics.

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Key Features

• Rated Voltage: 24V / 36V / 48V

• KV Rating: 95 rpm/V

• Peak Torque: 2.68 Nm

• High Precision: 0.01° encoder compatibility (Renishaw, Sick, etc.)

• Low Cogging Torque: Enables smooth, low-noise operation

• Frameless Inrunner Design: Compact, lightweight (270.4g), and easy to integrate

• Supports FOC (Field Oriented Control)

• Working Temperature Range: -20°C to 50°C

• High Copper Fill Factor & Curved Permanent Magnets: For improved torque density

• Optional Rotor Heightened Version: +2mm for optimized Hall sensor detection

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Mechanical Drawings

RI70 Without Hall Sensor:

• Outer Diameter: Ø76 mm (+0.08/-0.02)

• Inner Shaft Hole: Ø38 ±0.03 mm

• Body Length: 15 mm

• Max Total Length: 73 mm

• Mounting Depth: 6.5 mm (max)

RI70 With Hall Sensor:

• Rotor height increased by 2mm

• Integrated PCB with angle layout for Hall signal wires

• Additional mounting clearance: 13 mm

• Cable length: 190 ± 5 mm

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Electrical Specifications

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Wiring & Connector Details

Encoder Wiring Correspondence:
Hu → U, Hv → V, Hw → W

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Performance Curve (RI70 KV95 @ 24VDC)

• Peak efficiency achieved around 0.3 Nm torque

• Power output reaches ~220W at 2.6 Nm

• Optimal for high-speed, low-load, and smooth-dynamic control environments

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Construction Highlights

• Hand-Wound Stator: For high torque density and dynamic response

• Curved Permanent Magnets: Designed for sinusoidal BEMF control

• 0.5mm Clearance: Facilitates precise mounting and airflow

• Wide Operating Range: Supports ambient temperatures from -20°C to +50°C

• Optional Heightened Rotor: Improves magnetic coupling when used with Hall sensors

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Applications

• Collaborative Robot (Cobot) Joints

• Exoskeleton Actuators

• Precision Industrial Arms

• Rehabilitation and Assistive Robotics

• Research and Education Platforms

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Encoder Compatibility (Optional)

• High-resolution absolute encoder options (e.g., Renishaw, Sick)

• Resolution up to 0.01°

• Encoder mount support built into motor geometry

Details

CubeMars RI70 Motor dimensions: Ø76, Ø47, Ø45.8, Ø38, Ø48 (min), Ø73 (max), 15 length, 6.5 max height.

CubeMars RI70 Motor dimensions: 76mm height, 73mm diameter. Features hall sensor, 4-R1.5 holes, 200±5mm length, 190±5mm width, and 25° angle.

CubeMars RI70 Motor: Cobot arm/exoskeleton application, FOC driving, -20°C-50°C operation, 14 pole pairs. Rated voltage 24/36/48V, no-load speed 1956/2934/3912 rpm, rated torque 0.94Nm, peak torque 2.68Nm. Weight 270.4g.

Analysis Chart for RI70 KV95@24VDC motor. Displays output power, efficiency, current, and speed against torque. Graph highlights performance metrics under varying conditions.

CubeMars RI70 Motor: Lower cogging torque, smooth running, low noise, strong dynamic.

Hand-wound stator with 0.5mm clearance for high torque density.

Curved permanent magnet BEMF Sinus motor design for easy control.

RI70 Rotor Heightened Version: Overall height increased by 2mm for improved hall sensor sensing.

Encoder options: High resolution, high precision control with 0.01° accuracy. Features Renishaw, Sick, and other high-precision encoders.