{
  "checked_on": "2026-10-28",
  "selection_status": "screening_only_not_selected_or_ordered",
  "torque_basis": "actuator gearbox output; excludes any added belt/rod transmission",
  "price_basis": "published individual-unit reference; not a delivered, driver-configured quotation",
  "sources": {
    "robstride_catalog_20261009": {
      "url": "https://github.com/RobStride/Product_Information/blob/384cc561e1ff079c22f68b19908526094430febd/灵足时代RS系列产品规格介绍(2026.010.09).pdf",
      "local": "research/robstride_assets/spec_20261009.pdf",
      "audit": "research/robstride_sources.md"
    },
    "ak80_v3_product": {
      "url": "https://www.cubemars.com/product/ak80-9-v3-0-robotic-actuator.html",
      "audit": "research/tmotor_sources.md"
    },
    "ak70_product": {
      "url": "https://www.cubemars.com/goods-1031-AK7010.html",
      "audit": "research/tmotor_sources.md"
    }
  },
  "candidates": [
    {
      "id": "rs02_20261009",
      "name": "RobStride RS02 (2026-10-09 catalog)",
      "source_id": "robstride_catalog_20261009",
      "rated_torque_nm": 7,
      "rated_stall_torque_nm": 6,
      "peak_torque_nm": 17,
      "mass_g": 418,
      "internal_ratio": 7.75,
      "nominal_voltage_v": 48,
      "rated_speed_rpm": 100,
      "no_load_speed_rpm": 410,
      "rated_thermal_condition": "150 x 150 mm aluminum heat sink; thickness and installed equivalence unresolved",
      "unit_reference_price": {"amount": 699, "currency": "CNY", "market": "manufacturer catalog"},
      "conflict": "Same-date manual gives 6 Nm and 405 g; older README gives 7 Nm and 380 g. Delivered revision unresolved.",
      "screening_role": "lighter candidate; sustained torque and external ratio need checking"
    },
    {
      "id": "rs06_20261009",
      "name": "RobStride RS06 (2026-10-09 catalog)",
      "source_id": "robstride_catalog_20261009",
      "rated_torque_nm": 11,
      "rated_stall_torque_nm": 8,
      "peak_torque_nm": 36,
      "mass_g": 615,
      "internal_ratio": 9,
      "nominal_voltage_v": 48,
      "rated_speed_rpm": 100,
      "no_load_speed_rpm": 480,
      "rated_thermal_condition": "200 x 200 mm aluminum heat sink; thickness and installed equivalence unresolved",
      "unit_reference_price": {"amount": 849, "currency": "CNY", "market": "manufacturer catalog"},
      "conflict": "Older manual/README give 621 g. Old and new STEP files both exist; delivered revision unresolved.",
      "screening_role": "higher torque candidate for hip flexion and knee"
    },
    {
      "id": "rs03_20261009",
      "name": "RobStride RS03 (2026-10-09 catalog)",
      "source_id": "robstride_catalog_20261009",
      "rated_torque_nm": 21,
      "rated_stall_torque_nm": 13,
      "peak_torque_nm": 60,
      "mass_g": 928,
      "internal_ratio": 9,
      "nominal_voltage_v": 48,
      "rated_speed_rpm": 100,
      "no_load_speed_rpm": 195,
      "rated_thermal_condition": "200 x 200 mm aluminum heat sink; thickness and installed equivalence unresolved",
      "unit_reference_price": {"amount": 999, "currency": "CNY", "market": "manufacturer catalog"},
      "conflict": "October manual gives 20 Nm and 880 g; older README gives 21 Nm and 900 g. Delivered revision unresolved.",
      "screening_role": "heavy reference; 12 units exceed an 8 or 10 kg total-mass case"
    },
    {
      "id": "ak80_9_v3_kv100",
      "name": "CubeMars AK80-9 V3.0 KV100",
      "source_id": "ak80_v3_product",
      "rated_torque_nm": 9,
      "rated_stall_torque_nm": null,
      "peak_torque_nm": 22,
      "mass_g": 490,
      "internal_ratio": 9,
      "nominal_voltage_v": 48,
      "rated_speed_rpm": 390,
      "no_load_speed_rpm": 570,
      "rated_thermal_condition": "installed cooling/duty and continuous stall rating not established by the product-page table",
      "unit_reference_price": {"amount": 479.90, "currency": "USD", "market": "official web initial display; driver option unresolved"},
      "envelope_mm": {"diameter": 98, "axial_length": 38.5, "status": "product-page envelope; cable/fastener clearance excluded"},
      "conflict": "Other manufacturer summary gives 485 g. V3.0 is distinct from the older 18 Nm version.",
      "screening_role": "uniform-motor packaging reference; verify thermal duty and final driver-inclusive cost"
    },
    {
      "id": "ak70_10_kv100",
      "name": "CubeMars AK70-10 KV100 (STEP V2.0)",
      "source_id": "ak70_product",
      "rated_torque_nm": 8.3,
      "rated_stall_torque_nm": null,
      "peak_torque_nm": 24.8,
      "mass_g": 621,
      "internal_ratio": 10,
      "nominal_voltage_v": 48,
      "rated_speed_rpm": 310,
      "no_load_speed_rpm": 480,
      "rated_thermal_condition": "installed cooling/duty and continuous stall rating not established by the product-page table",
      "unit_reference_price": {"amount": 398.90, "currency": "USD", "market": "official web initial display; driver option unresolved"},
      "envelope_mm": {"diameter": 89, "axial_length": 50.25, "status": "product-page envelope; cable/fastener clearance excluded"},
      "conflict": "Manufacturer solution page gives 521 g and the torque-density figure implies 521 g; 621 g used only as declared product-page screening mass.",
      "screening_role": "alternative; resolve 100 g per-unit mass discrepancy before ranking packaging"
    }
  ],
  "mixed_configurations": [
    {
      "id": "rs02_haa_rs06_hfe_kfe",
      "name": "RS02 hip abduction x4 + RS06 hip/knee flexion x8",
      "status": "candidate only; hip-abduction loads not evaluated by scalar vertical moment-arm screening",
      "counts": {"rs02_20261009": 4, "rs06_20261009": 8}
    }
  ]
}