The AK45-10 V3.0 KV75 has a higher torque constant (0.127 N·m/A against 0.078 N·m/A), draws less current at its rating (1.9 A against 6.5 A), and is lighter (262 g against 368 g) and narrower (53 mm against 79 mm). The AK60-6 V1.1 KV140 has more continuous torque (3 N·m against 2.5 N·m) and more peak torque (9 N·m against 7 N·m), is shallower (39.5 mm against 45.2 mm), and turns faster at the output (420 RPM against 120 RPM).
The AK45-10 V3.0 KV75 is US$175 and the AK60-6 V1.1 KV140 is US$335. That is US$70.00 per rated N·m for the AK45-10 V3.0 KV75 and US$111.67 per rated N·m for the AK60-6 V1.1 KV140.
| AK45-10 V3.0 KV75 | AK60-6 V1.1 KV140 | |
|---|---|---|
| Reduction Ratio | 10:1 | 6:1 |
| Rated Torque (N·m) | 2.5 | 3 |
| OD (mm) | 53 | 79 |
| Weight (g) | 262 | 368 |
| Peak Torque (N·m) | 7 | 9 |
| Rated Voltage (V) | 24 | 24 |
| Rated Speed (RPM) | 120 | 420 |
| No-Load Speed (RPM) | 180 | — |
| Rated Current (A) | 1.9 | 6.5 |
| Peak Current (A) | 5 | 22.7 |
| Maximum Torque Density (N·m/kg) | 26.9 | — |
| Height (mm) | 45.2 | 39.5 |
| Backlash (arcmin) | 18 | — |
| Back Drive (N·m) | 0.1 | 0.2 |
| Kv (RPM/V) | 75 | 140 |
| Kt (N·m/A) | 0.127 | 0.078 |
| Ke (V/kRPM) | 13.33 | 7.5 |
| Phase to Phase Resistance (mΩ) | 2200 | 202 |
| Phase to Phase Inductance (μH) | 1330 | 138 |
| Rotor Inertia (g·cm²) | 157.33 | — |
| Motor Constant (N·m/√W) | 0.0858 | — |
| Pole Pairs | 14 | 14 |
| Number of Slots | 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-4P |
| UART Connector | A1257WR-S-3P | A1257WR-S-4P |
| Temperature Sensor | NTC MF51B 103F3950 | NTC MF51B 103F3950 |
| Noise dB (65cm away the motor) | 50 | — |
| Basic Dynamic Load Rating Cr (N) | 2810 | — |
| Basic Static Load Rating C0r (N) | 2760 | — |
| Operation Ambient Temperature | -20℃~50℃ | -20℃~50℃ |
| Insulation Level | C | — |
| Driving Way | FOC | FOC |
| Application | Legged Robot, Exoskeleton, AGV | Legged Robot, Exoskeleton, AGV |
| Motor Constant Km (N·m/√W) | — | 0.17 |
| Maximum Torque Weight Ratio (N·m/kg) | — | 24.46 |
| Inertia (g·cm²) | — | 243.5 |
| Mechanical Time Constant (ms) | — | 0.81 |
| Electrical Time Constant (ms) | — | 0.68 |
| Winding Type | — | Delta Backlash (°) 0.55 |
| 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.