Actuator and actuator design methodology — Tesla Patent

WO2024072984A1 · Tesla Inc

Patent number
WO2024072984A1
Applicant
Tesla Inc
Filing date
2023-09-28
CPC class
B25J11/00
Pillar
Muscle

The patent discloses a system and method for controlling robot movement using specialized actuators positioned at various joints (torso, shoulder, hip, wrist, elbow, ankle, knee). It includes different types of rotary and linear actuators optimized for specific locations, along with motors, batteries, communication backbone, and processors for coordinated control. The design methodology optimizes actuator selection based on torque, speed, cost, and mass for humanoid robot performance.

Claims

Key claims cover: a system with multiple actuator types at specific body locations (first type at torso/shoulder/hip, second/third at wrists, fourth at elbow/ankle, fifth at torso/hip, sixth at knee/hip); inclusion of motors, batteries at torso, communication backbone, and processor; use of rotary actuators with mechanical latches and linear actuators with planetary rollers; and a corresponding method for controlling movement at those locations with power and communication management.

Technical analysis

Focuses on differentiated actuator designs (rotary vs. linear) tailored to joint-specific requirements in a humanoid robot, emphasizing integration with sensors, power distribution, and a communication backbone for real-time control. Includes optimization via performance targets (torque/speed) correlated with system cost and mass, supporting efficient humanoid locomotion and manipulation.

Commercial impact

Supports Tesla's Optimus humanoid robot development by enabling scalable, cost-effective actuator architectures that balance performance and mass, potentially accelerating deployment in manufacturing, logistics, and service robotics markets where versatile joint actuation is critical.

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