The AKH70-16 V1.0 KV41 is lighter (879 g against 1396 g) and shallower (60.5 mm against 81.5 mm), and turns faster at the output (90 RPM against 28 RPM). The AKH70-48 V1.0 KV41 has more continuous torque (74 N·m against 26 N·m) and more peak torque (222 N·m against 85 N·m), and draws less current at its rating (6 A against 6.5 A). They match on torque constant and diameter.
The AKH70-16 V1.0 KV41 is US$670 and the AKH70-48 V1.0 KV41 is US$782. That is US$25.77 per rated N·m for the AKH70-16 V1.0 KV41 and US$10.57 per rated N·m for the AKH70-48 V1.0 KV41.
| AKH70-16 V1.0 KV41 | AKH70-48 V1.0 KV41 | |
|---|---|---|
| Reduction Ratio | 16:1 | 48:1 |
| Rated Torque (N·m) | 26 | 74 |
| OD (mm) | 90 | 90 |
| Weight (g) | 879 | 1396 |
| Peak Torque (N·m) | 85 | 222 |
| Rated Voltage (V) | 48 | 48 |
| Rated Speed (RPM) | 90 | 28 |
| No-Load Speed (RPM) | 105 | 35 |
| Rated Current (A) | 6.5 | 6 |
| Peak Current (A) | 23 | 21 |
| Maximum Torque Density (N·m/kg) | 88.74 | 159 |
| Height (mm) | 60.5 | 81.5 |
| Backlash (arcmin) | 12 | 12 |
| Back Drive (N·m) | 0.78 | 2.22 |
| Kv (RPM/V) | 41 | 41 |
| Kt (N·m/A) | 0.23 | 0.23 |
| Ke (V/kRPM) | 2.4 | 2.4 |
| Phase to Phase Resistance (mΩ) | 0.56 | 0.56 |
| Phase to Phase Inductance (μH) | 0.6 | 0.6 |
| Rotor Inertia (g·cm²) | 1170 | 1170 |
| Motor Constant (N·m/√W) | 0.31 | 0.31 |
| Mechanical Time Constant (ms) | 2.28 | 2.28 |
| Pole Pairs | 21 | 21 |
| Number of Slots | 36 | 36 |
| Winding Type | Delta | Delta |
| Number of Encoder | 2 | 2 |
| Inner Loop Encoder Type | Magnetic Encoder | Magnetic Encoder |
| Inner Ring Encoder Resolution | 21bit | 21bit |
| Outer Ring Encoder Type | Magnetic Encoder | Magnetic Encoder |
| Outer Ring Encoder Resolution | 21bit | 21bit |
| CAN Connector | XT30PW(2+2)-M | XT30PW(2+2)-M |
| UART Connector | A1257WR-S-3P | A1257WR-S-3P |
| Power Connector | XT30PW(2+2)-M | XT30PW(2+2)-M |
| Temperature Sensor | NTC MF51B 103F3950 | NTC MF51B 103F3950 |
| Noise dB (65cm away the motor) | 65 | 65 |
| Basic Dynamic Load Rating Cr (N) | 6350 | 5680 |
| Basic Static Load Rating C0r (N) | 5550 | 8680 |
| Operation Ambient Temperature | -20℃~50℃ | -20℃~50℃ |
| Insulation Level | F | F |
| Driving Way | FOC | FOC |
| Application | Legged Robot, Exoskeleton, AGV | Legged Robot, Exoskeleton, AGV |
Rows the two disagree on are marked; the figures are CubeMars'. To put any other two parts side by side, build your own comparison.