The AK60-39 V3.0 draws less current at its rating (4.5 A against 6.5 A), and is lighter (750 g against 879 g), narrower (79 mm against 90 mm) and shallower (48.5 mm against 60.5 mm). The AKH70-16 V1.0 KV41 has more continuous torque (26 N·m against 24 N·m), more peak torque (85 N·m against 72 N·m) and a higher torque constant (0.23 N·m/A against 0.12 N·m/A), and turns faster at the output (90 RPM against 70 RPM).
The AK60-39 V3.0 is US$503 and the AKH70-16 V1.0 KV41 is US$670. That is US$20.96 per rated N·m for the AK60-39 V3.0 and US$25.77 per rated N·m for the AKH70-16 V1.0 KV41.
| AK60-39 V3.0 | AKH70-16 V1.0 KV41 | |
|---|---|---|
| Reduction Ratio | 39:1 | 16:1 |
| Rated Torque (N·m) | 24 | 26 |
| OD (mm) | 79 | 90 |
| Weight (g) | 750 | 879 |
| Peak Torque (N·m) | 72 | 85 |
| Rated Voltage (V) | 48 Outer Ring Encoder type Magnetic Encoder | 48 |
| Rated Speed (RPM) | 70 | 90 |
| No-Load Speed (RPM) | 98 | 105 |
| Rated Current (A) | 4.5 | 6.5 |
| Peak Current (A) | 17 | 23 |
| Maximum Torque Density (N·m/kg) | 96 | 88.74 |
| Height (mm) | 48.5 | 60.5 |
| Backlash (arcmin) | 15 | 12 |
| Back Drive (N·m) | 1.4 | 0.78 |
| Kv (RPM/V) | 80 | 41 |
| Kt (N·m/A) | 0.12 | 0.23 |
| Ke (V/kRPM) | 12.5 | 2.4 |
| Phase to Phase Resistance (mΩ) | 600 | 0.56 |
| Phase to Phase Inductance (μH) | 670 | 0.6 |
| Rotor Inertia (g·cm²) | 305 | 1170 |
| Motor Constant (N·m/√W) | 0.15 | 0.31 |
| Mechanical Time Constant (ms) | 2.39 | 2.28 |
| Pole Pairs | 14 | 21 |
| Number of Slots | 24 | 36 |
| Winding Type | Star | Delta |
| Number of Encoder | 2 | 2 |
| Inner Loop Encoder Type | Magnetic Encoder | Magnetic Encoder |
| Inner Ring Encoder Resolution | 21bit | 21bit |
| Outer Ring Encoder Resolution | 21bit | 21bit |
| CAN Connector | A1257WR-S-3P | XT30PW(2+2)-M |
| UART Connector | XT30PW-M | A1257WR-S-3P |
| Temperature Sensor | NTC MF51B 103F3950 | NTC MF51B 103F3950 |
| Basic Dynamic Load Rating Cr (N) | 2000 | 6350 |
| Basic Static Load Rating C0r (N) | 2520 | 5550 |
| Operation Ambient Temperature | -20℃~50℃ | -20℃~50℃ |
| Insulation Level | C | F |
| Driving Way | FOC | FOC |
| Application | Legged Robot, Exoskeleton, AGV | Legged Robot, Exoskeleton, AGV |
| Outer Ring Encoder Type | — | Magnetic Encoder |
| Power Connector | — | XT30PW(2+2)-M |
| Noise dB (65cm away the motor) | — | 65 |
Rows the two disagree on are marked; the figures are CubeMars'. To put any other two parts side by side, build your own comparison.