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Late last year, Tesla unveiled Optimus Gen 2, a new generation of its humanoid robot that can take on routine tasks. The new prototype showed many improvements compared to previous versions. One of the major changes to Optimus Gen 2 is that Tesla is now using its own proprietary actuators for the robot's limbs. The company has revealed some of the technology behind their humanoid robots by filing for new patents. These patents describe the design of the Optimus knee and arm.
In the first patent, the company describes its "actuator design methodology." The system can include six types of actuators located in different parts of the robot's body: the 1st type for the trunk, shoulder, hips; 2nd and 3rd type for wrists; 4th type for elbows and ankles; 5th type for trunk and hips; 6th type for knees and hips. It is interesting that the drawings of the first patent application depict Optimus of the first generation. Other patent applications show images of the new Optimus.
The next patent is called "Systems and methods of assembling a robot knee joint", and, as the name suggests, it is dedicated to the bot knee. This knee joint contains two connecting elements. The first element connects the upper part of the robot's leg and can rotate around the first axis. The second element connects the lower part of the robot's leg and can rotate, but around a second axis. A linear actuator is installed between the ends of these elements, which, when activated, causes the first element to rotate relative to the upper part of the leg, which causes the lower part of the leg to move relative to the upper part. Thus, the drive provides bending and extension of the robot's leg.
Another patent application concerns Tesla's Optimus hands. It is called "Inactive hand with rope fingers". A robotic hand system may include a palm and one or more fingers. Each finger has its own drive. Fingers consist of two links: proximal (closer to the palm) and distal (further from the palm). The proximal link connects to the robot's palm at one end and rotates around the first joint. The distal link connects to the other end of the proximal link and rotates around the second hinge. The cable connected to the actuator passes along the proximal and distal links. The end of the cable has a thickening that engages the distal link of the finger when the cable is tensioned by the actuator.
