特斯拉人形機(ji)(ji)器(qi)人 Optimus采用電機(ji)(ji)驅動，身體擁有 28個執行(xing)器(qi)，并且使用旋(xuan)轉(zhuan)執行(xing)器(qi)和線性執行(xing)器(qi)兩種方案(an)。

1）基(ji)于無框力矩電機+諧波減速器+力矩傳感(gan)器+雙編碼器+交(jiao)叉滾子軸(zhou)承(cheng)+角接觸球軸(zhou)承(cheng)的旋轉(zhuan)執行器；

2）基(ji)于無框力矩(ju)電機+編碼器(qi)+行星滾柱絲杠+力傳(chuan)感器(qi)+深溝球(qiu)軸(zhou)承+四點接觸軸(zhou)承的線(xian)(xian)性(xing)(xing)執(zhi)行器(qi)。通過進行共(gong)性(xing)(xing)研究(jiu)減少使(shi)(shi)用(yong)驅動器(qi)的種(zhong)類， 目前 Optimus 使(shi)(shi)用(yong) 6 種(zhong)執(zhi)行器(qi)，旋轉和線(xian)(xian)性(xing)(xing)各 3 種(zhong)，其中一款線(xian)(xian)性(xing)(xing)執(zhi)行器(qi)可以舉起(qi) 500 斤 的鋼(gang)琴

身體擁有 28個(ge)(ge)執(zhi)(zhi)行(xing)(xing)(xing)器(qi)(qi)，14個(ge)(ge)旋轉執(zhi)(zhi)行(xing)(xing)(xing)器(qi)(qi)+14 個(ge)(ge)線性執(zhi)(zhi)行(xing)(xing)(xing)器(qi)(qi)。分(fen)布如(ru)下(xia)：1）左臂+右臂： 7+7，其中肩部(bu) 3（×2）個(ge)(ge)旋轉執(zhi)(zhi)行(xing)(xing)(xing)器(qi)(qi)，肘(zhou)部(bu) 1（×2）個(ge)(ge)直(zhi)線執(zhi)(zhi)行(xing)(xing)(xing)器(qi)(qi)，手腕 1（×2）個(ge)(ge)旋 轉執(zhi)(zhi)行(xing)(xing)(xing)器(qi)(qi)+2（×2）個(ge)(ge)直(zhi)線執(zhi)(zhi)行(xing)(xing)(xing)器(qi)(qi)；2）左腿+右腿：6+6，其中髖部(bu) 2（×2）個(ge)(ge)旋轉執(zhi)(zhi)行(xing)(xing)(xing)器(qi)(qi) +1（×2）個(ge)(ge)線性執(zhi)(zhi)行(xing)(xing)(xing)器(qi)(qi)，膝(xi)蓋 1（×2）個(ge)(ge)線性執(zhi)(zhi)行(xing)(xing)(xing)器(qi)(qi)，腳踝 2（×2）個(ge)(ge)線性執(zhi)(zhi)行(xing)(xing)(xing)器(qi)(qi)；3） 腰部(bu)：2 個(ge)(ge)旋轉執(zhi)(zhi)行(xing)(xing)(xing)器(qi)(qi)。

旋(xuan)轉執行器(qi)采用(yong)(yong)無框(kuang)力矩電機(ji)+諧波減(jian)速器(qi)+力矩傳(chuan)(chuan)感(gan)(gan)(gan)器(qi)+雙編(bian)(bian)碼(ma)器(qi)+交(jiao)叉(cha)滾子軸承(cheng)(cheng)(cheng)+角(jiao) 接觸球軸承(cheng)(cheng)(cheng)的(de)(de)方案。1）無框(kuang)力矩電機(ji)：使(shi)用(yong)(yong)特(te)斯拉自主(zhu)研發的(de)(de)永磁(ci)電機(ji)（Bespoke Permanent Magnet Machine）。2）減(jian)速器(qi)：使(shi)用(yong)(yong)諧波減(jian)速器(qi)，結構簡單，減(jian)速比大，傳(chuan)(chuan)動(dong)精(jing)度和傳(chuan)(chuan)動(dong) 效率較高。3）位置傳(chuan)(chuan)感(gan)(gan)(gan)器(qi)：使(shi)用(yong)(yong)兩個，即(ji)雙編(bian)(bian)碼(ma)器(qi)，包括輸(shu)入位置編(bian)(bian)碼(ma)器(qi)、輸(shu)出位置編(bian)(bian)碼(ma) 器(qi)。4）力矩傳(chuan)(chuan)感(gan)(gan)(gan)器(qi)：使(shi)用(yong)(yong)一個非接觸式扭矩傳(chuan)(chuan)感(gan)(gan)(gan)器(qi)。5）軸承(cheng)(cheng)(cheng)：使(shi)用(yong)(yong)角(jiao)接觸軸承(cheng)(cheng)(cheng)、交(jiao)叉(cha)滾子 軸承(cheng)(cheng)(cheng)。

人(ren)(ren)(ren)形機(ji)(ji)(ji)器(qi)(qi)(qi)人(ren)(ren)(ren) Optimus 身(shen)體核心零部件市(shi)場(chang)(chang)空間(jian)測算：1）諧波(bo)減(jian)速器(qi)(qi)(qi)：單(dan)臺(tai)機(ji)(ji)(ji)器(qi)(qi)(qi)人(ren)(ren)(ren)諧波(bo) 減(jian)速器(qi)(qi)(qi)數(shu)(shu)量(liang)為(wei)(wei) 14 個，單(dan)價從 2026 年(nian)(nian)(nian)的(de)(de) 1300 元(yuan)下降(jiang)到 2030 年(nian)(nian)(nian) 600 元(yuan)，2030 年(nian)(nian)(nian)樂觀(guan)(guan)(guan)(guan)/中(zhong)性/ 悲(bei)觀(guan)(guan)(guan)(guan)情(qing)景(jing)下市(shi)場(chang)(chang)空間(jian)分(fen)別為(wei)(wei) 168/126/67 億(yi)元(yuan)；2）行星滾柱絲杠：單(dan)臺(tai)機(ji)(ji)(ji)器(qi)(qi)(qi)人(ren)(ren)(ren)行星滾柱絲杠 數(shu)(shu)量(liang)為(wei)(wei) 14 個，單(dan)價從 2026 年(nian)(nian)(nian)的(de)(de) 4000 元(yuan)下降(jiang)到 2030 年(nian)(nian)(nian) 2000 元(yuan)，2030 年(nian)(nian)(nian)樂觀(guan)(guan)(guan)(guan)/中(zhong)性/悲(bei)觀(guan)(guan)(guan)(guan) 情(qing)景(jing)下市(shi)場(chang)(chang)空間(jian)分(fen)別為(wei)(wei) 560/420/224 億(yi)元(yuan)；3）伺(si)服電機(ji)(ji)(ji)：單(dan)臺(tai)機(ji)(ji)(ji)器(qi)(qi)(qi)人(ren)(ren)(ren)伺(si)服電機(ji)(ji)(ji)數(shu)(shu)量(liang)為(wei)(wei) 28 個， 單(dan)價從 2026 年(nian)(nian)(nian)的(de)(de) 500 元(yuan)下降(jiang)到 2030 年(nian)(nian)(nian) 300 元(yuan)，2030 年(nian)(nian)(nian)樂觀(guan)(guan)(guan)(guan)/中(zhong)性/悲(bei)觀(guan)(guan)(guan)(guan)情(qing)景(jing)下市(shi)場(chang)(chang)空間(jian)分(fen) 別為(wei)(wei) 168/126/67 億(yi)元(yuan)。