(2) Body: a total of 28 degrees of freedom, including a total of 28 linear and rotating actuators

Humanoid robot joint adopts bionic design, single joint effect is high. Taking the knee joint as an example, Tesla refers to the human knee structure and turns the linear connection into a bionic four-bar connection, thereby increasing the flexibility of the joint, suitable for more scenarios and reducing the force. At the same time, Tesla selected multiple scenarios to simulate the work of the robot, calculated the input and output of each joint in each scenario and abstracted it into a point, solved the Pareto optimization of hundreds of thousands of points, and got a joint selection that could meet the requirements of multi-use scenarios. 6 types of actuators multiplexed to achieve 28 degrees of freedom of the body. Robot joints need to complete different actions such as Pitch (rotation around X axis), Yaw (rotation around X axis), Roll (rotation around Z axis), etc. Tesla realizes multiple use through joint optimization selection, and the 3 types of rotation and 3 types of linear actuators achieve a total of 28 degrees of freedom, of which the number of rotating and linear actuators is 14.

According to the different movement mode of the actuator, it is divided into rotation and linear actuators. The rotary actuator is used to connect the moving mechanism and transfer the rotating motion between the mechanisms. It is composed of frameless torque motor + harmonic reducer + clutch + position/torque sensor + bearing, etc. It is mainly used for the shoulder, wrist, hip and torso of the robot. Linear actuators have stiffness in the vertical direction, can be classified in the human muscle, mainly transfer telescopic motion, mainly by the frameless torque motor + inverted planetary roller screw + position/force sensor + bearing, etc., mainly used for robot knees, ankles, elbows, hips, wrists. Therefore, the parts used in the body part include the frameless torque motor of the drive/execution device, the harmonic reducer of the transmission device, the planetary roller screw, various types of bearings, etc., as well as the position, torque, force sensors.

GCD207B101 3BHE024642R0101

GCD207B101 3BHE024642R0101

(3) Hands: A total of 22 degrees of freedom, including 12 joints

The robot hands are ergonomic designed to optimize the grasp of objects. The dexterous hand is equipped with sensors that can recognize the objects it is grasping and sense the spatial position of the hand in real time to grasp small and delicate objects. At the same time, the dexterous hand has “Adaptive grasp” and “Non-backdrivable fingers”, which can adapt to the grasped object and grasp and transport the object without turning on the motor. The Tesla Dexterous Hand has a total of 11 degrees of freedom and six actuators in one hand. The dexterous hand has a total of 11 degrees of freedom in one hand, including 6 active degrees of freedom and 5 passive degrees of freedom, of which the active degree of freedom has two thumbs (swing + bend), and the remaining four fingers have one each. The active freedom of the finger is realized by the actuator, whose drive/execution device is a hollow cup electric machine, the transmission device is a precision gear, and is equipped with a variety of sensors.

(4) Summary: Focus on motor, reducer, lead screw and other fields

According to our calculation, the high value link of the humanoid robot integration joint is frameless torque motor, hollow cup motor, harmonic reducer and planetary roller screw, such products focus on standardization, and some products are relatively mature in domestic industrial robots and other industries; The bearing and sensor field involves more types of products, the average price is low, the supplier focuses on different segments, the concentration of domestic enterprises may not be large.