Tesla's Optimus Robot: Actuator Count and Degrees of Freedom Explained for Gen 2 and Gen 3
- Published
- Source
- optimusk.blog
Tesla's Optimus robot features 28 structural body actuators, comprising 14 rotary and 14 linear units, which provide 28 degrees of freedom (DoF). With the addition of two neck DoF in Gen 2, the total body DoF reaches 30. The upcoming Gen 3 model will introduce 50 hand actuators, resulting in 78 actuators overall.
Understanding the actuator architecture is crucial as it directly impacts the robot's functionality. Each rotary actuator includes a frameless torque motor and a harmonic reducer, while linear units utilize a torque motor driving an inverted planetary roller screw. This design ensures sub-degree positional accuracy, essential for precise movements in applications.
Looking ahead, the full new-body robot, referred to as V3, is reported to have 37 joints. As Tesla continues to refine its technology, the implications for maintenance and supply chain management will be significant, particularly regarding the longevity and reliability of harmonic drives used in the robot's joints. No further timeline was disclosed at the time of publication.
Original report
Tesla Optimus Degrees of Freedom & Actuators: Gen 2 vs Gen 3 (2026)
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