Servo torque to weight ratios

twratio mpower mwratio brand model stall-torque / weight / no load rpm

0.14 9800 5.8 Schunk Powercube-PW90-axis2 245kgf-cm / 3400g*0.5 / 40rpm
0.16 ? ? Hitec HS-805BB@6V 24.5kgf-cm / 152g
0.16 ? ? Hitec HS-645MG 9.6kgf-cm / 60g
0.18 ? ? HXT HXT900 1.6kgf-cm / 9g $3
0.18 1543 26.0 BlueArrow DMS47111MG 10.8kgf-cm / 59.3g / 142.9rpm $36.26 (HK47111MG)
0.19 ? ? Hitec [email protected] 29kgf-cm / 152g
0.19 1543 27.4 BlueArrow DMS47011MG 10.8kgf-cm / 56.4g / 142.9rpm $33.26 (HK47111MG)
0.21 ? ? Hitec HS-5645MG  12.1kgf-cm / 57g
0.24 ? ? SpringRC SR-518 17.3kgf-cm / 70g / 40
0.26 ? ? UP-TECH CDS5516 16kgf-cm / 61g $27
0.28 ? ? Schunk Powercube-PW90-axis1 469kgf-cm / 3400g*0.5 / 25rpm
0.29 272 28.6 MKS Ds460 2.72kgf-cm / 9.5g / 100.0rpm $26
0.30 842 15.3 Robotis AX-12+ 16.5kgf-cm / 55g / 51.0rpm $45
0.32 1748 31.8 Robotis AX-18F 18kgf-cm / 55g / 97.1rpm $95
0.33 258 27.2 MKS Ds450 3.1kgf-cm / 9.5g / 83.3rpm $26
0.33 2475 41.1 KONDO KRS-4032HV 19.8 kgf-cm / 60.2g / 125rpm $156x6
0.33 1296 15 Robotis MX-28 24kgf-cm / 72g / 54rpm
0.34 ? ? PowerHD 1501MG 20.45kgf-cm / 60g / 71rpm $11
0.37 ? ? Hitec HS-7955TG 24kgf-cm / 65g
0.38 1909 31 Mi MetalGear 23kgf-cm / 61g / 83.3rpm $35
0.39 3292 49.1  Robotis RX-24F 26kgf-cm / 67g / 126.6rpm $140
0.40 ? ? MKS/Turnigy HV-767/ HV-2S 31kgf-cm 78g $60
0.42 ? ? Futaba BLS152 31kgf-cm / 74g
0.42 ? ? GeneralRobotix GRX-SSM-076 78.2kgf-cm / 185g / 41.67rpm $585
0.43 ? ? BlueBird BMS-860DMAX+HS 23.42kgf-cm / 54g / 67rpm $60
0.44 ? ? Sanwa SDX-901 29kgf-cm / 66g
0.44 1764 30 Hitec HS-5990TG 30kgf-cm / 68g / 58.8rpm
0.46 ? ? JRPROPO DS6311HV 36.5kgf-cm / 80g
0.48 ? ? BlueArrow BMS-35A 35.5kgf-cm / 74g / 71.4rpm $57.91
0.49 2953 37.6 MKS/Turnigy HV-300/HV-3S 38.4kg-cm / 78.5g / 76.9rpm $62
0.50 ? ? KONDO KRS-4033HV 30.6 kgf-cm / 61.4g / 83.3rpm $156x6
0.52 2994 41.6 Robotis RX-28 37.7kgf-cm / 72g / 79.4rpm $210
0.52 3763 47.0 Pirkus Strawberry-PRS-S40M 41.4kgf-cm / 80g / 90.90rpm $233x20
0.55 3949 34.0 Robotis RX-64 64kgf-cm / 116g / 61.7rpm $280
0.56 2938 44.5 Robotis DX-117 37kgf-cm / 66g / 79.4rpm  $192
0.57 ? ? Hitec HS-M7990TH 44kgf-cm / 76.5g 59rpm $170
0.60 2714 35.5 Hitec HS-M7980TH 46kgf-cm / 76.5g 59rpm $170
0.66 ? ? VSTONE V-SERVO VS-SV410 41kgf-cm / 62g
0.66 ? ? KONDO KRS-6003HV 67.0kgf-cm / 101g $362
0.68 ? ? KONDO KRS-4034HV 41.7kgf-cm / 61g $137
0.68 7409 47.8 Robotis EX-106+ 106kgf-cm / 155g / 69.9rpm $500
0.68 ? ? VSTONE V-SERVO VS-SV1150 115kgf-cm / 170g
0.68 ? ? KONDO KRS-4034HV  41.7 kgf-cm / 61.2g / 58.8rpm $156x6
0.85 ? ? VSTONE V-SERVO VS-SV3310 327kgf-cm / 387g
? ? ? Aldebaran Nao-type1-ratio1 122kgf-cm / ? / 39.7rpm
? ? ? Aldebaran Nao-type1-ratio2 78.3kgf-cm / ? / 61.1rpm



twratio is torque to weight ratio
mpower is mechanical power in some weird non-standard unit computed from kgf-cm*rpm. It is only for comparison because with the numbers above, rpm is based on no load and torque is based on zero speed.
mwratio is mpower to weight ratio

ratio brand model dynamic-torque / weight / no load rpm
0.06 Sony(Qrio) ISA-4S 5.1kgf-cm / 80g
0.09 Sony(Qrio) ISA-4M 11.2kgf-cm / 130g
0.11 Invenscience Torxis-i00600 116kgf-cm / 1072g / 10rpm $290
0.13 Robotis AX-12+ 7.0kgf-cm / 55g / 51.0rpm $45
0.14 Sony(Qrio) ISA-4MH 21.4kgf-cm / 150g
? Aldebaran Nao-type1-ratio1 25.2kgf-cm / ? / 39.7rpm
? Aldebaran Nao-type1-ratio2 16.4kgf-cm / ? / 61.1rpm