The AK40-10 V3.0 KV170 is lighter (190 g against 260 g) and shallower (40.2 mm against 43 mm), and turns faster at the output (370 RPM against 150 RPM). The AK45-10 KV75 has more continuous torque (2.5 N·m against 1.3 N·m), more peak torque (7 N·m against 4.1 N·m) and a higher torque constant (0.127 N·m/A against 0.056 N·m/A), and draws less current at its rating (2.1 A against 2.7 A). They match on diameter.
The AK40-10 V3.0 KV170 is US$152 and the AK45-10 KV75 is US$134. That is US$116.92 per rated N·m for the AK40-10 V3.0 KV170 and US$53.60 per rated N·m for the AK45-10 KV75.
| AK40-10 V3.0 KV170 | AK45-10 KV75 | |
|---|---|---|
| Reduction Ratio | 10:1 | 10:1 |
| Rated Torque (N·m) | 1.3 | 2.5 |
| OD (mm) | 53 | 53 |
| Weight (g) | 190 | 260 |
| Peak Torque (N·m) | 4.1 | 7 |
| Rated Voltage (V) | 24 | 24 |
| Rated Speed (RPM) | 370 | 150 |
| No-Load Speed (RPM) | 435 | 180 |
| Rated Current (A) | 2.7 | 2.1 |
| Peak Current (A) | 7.3 | 5 |
| Maximum Torque Density (N·m/kg) | 20.5 | 26.9 |
| Height (mm) | 40.2 | 43 |
| Backlash (arcmin) | 18 | 18 |
| Back Drive (N·m) | 0.06 | — |
| Kv (RPM/V) | 170 | 75 |
| Kt (N·m/A) | 0.056 | 0.127 |
| Ke (V/kRPM) | 5.88 | 13.33 |
| Phase to Phase Resistance (mΩ) | 978 | 2200 |
| Phase to Phase Inductance (μH) | 465 | 1330 |
| Rotor Inertia (g·cm²) | 97.35 | 89 |
| Motor Constant (N·m/√W) | 0.0568 | 0.0858 |
| Pole Pairs | 14 | 14 |
| Number of Slots | 24 | 24 |
| Number of Encoder | 2 | 1 |
| Inner Loop Encoder Type | Magnetic Encoder MT6835 | Magnetic Encoder |
| Inner Ring Encoder Resolution | 16bit | 14bit |
| Outer Ring Encoder Type | Magnetic Encoder MT6835 | — |
| Outer Ring Encoder Resolution | 16bit | — |
| Communication Method | CAN | — |
| CAN Connector | XT30PW (2+2) -M | A1257WR-S-3P |
| UART Connector | A1257WR-S-3P | A1257WR-S-3P |
| Temperature Sensor | NTC MF51B 103F3950 | NTC MF51B 103F3950 |
| Noise dB (65cm away the motor) | 50 | 60 |
| Basic Dynamic Load Rating Cr (N) | 2810 | 2810 |
| Basic Static Load Rating C0r (N) | 2760 | 2760 |
| Operation Ambient Temperature | -20℃~50℃ | -20℃~50℃ |
| Insulation Level | C | C |
| Driving Way | FOC | FOC |
| Application | Legged Robot, Exoskeleton, AGV | Legged Robot, Exoskeleton, AGV |
| Mechanical Time Constant (ms) | — | 0.6 |
| Winding Type | — | Delta |
| Power Connector | — | XT30PW-M |
Rows the two disagree on are marked; the figures are CubeMars'. To put any other two parts side by side, build your own comparison.