---
title: "Tesla Optimus linear actuator: bill of materials"
description: "Roller-screw linear actuator, 3,900 N class, Optimus Gen 2: what is inside, who makes each part, cost against raw material and who keeps the margin. About two thirds of what the assembler spends is the roller screw, a few hundred grams of bearing steel turned into a precision part."
canonical: https://actuatorlist.com/bom/optimus-linear
last-updated: 2026-11-07
---
# Tesla Optimus linear actuator

Roller-screw linear actuator, 3,900 N class, Optimus Gen 2. The most-analysed humanoid actuator. Its roller screw is a precision part with few qualified suppliers.

- Price: ~$0.44-1.1k[^4][^5] (estimate, 2024). Analyst BOMs for Optimus Gen 2 (2024); neither states a volume.
- Raw material in it: $4.38 at 2026-09 prices, so an idiot index of 176x.
- About two thirds of what the assembler spends is the roller screw, a few hundred grams of bearing steel turned into a precision part.

Interactive page: https://actuatorlist.com/bom/optimus-linear (deep link `#node=<id>`). JSON: https://actuatorlist.com/api/v1/bom/optimus-linear. As of November 2026.

## Bill of materials

Unit cost is what the next tier pays for one unit. Raw material and the idiot index cover all units in one actuator. Idiot index is unit cost over raw-material cost; step is unit cost over the cost of its inputs, shown only where every input has a cost. Masses come from our model of each part's geometry, not from a scale. "Typical maker" means the real supplier is not public and a listed maker of that part stands in for its margin.

| Node | Qty | Mass | Unit cost | Raw material | Idiot index | Step | Maker, gross margin |
| --- | --- | --- | --- | --- | --- | --- | --- |
| Optimus linear actuator (`optimus-linear`)[^1][^2][^3] | 1 | 906 g (model) | ~$0.44-1.1k[^4][^5] (estimate, 2024) | $4.38 | 176x | 1.4x | Sanhua Intelligent Controls, margin 28%[^6] (model, 2025) (reported by analysts or press) |
| · Planetary roller screw (`roller-screw`)[^1] | 1 | 221 g (model) | $201-506[^7][^6] (model, 2024) | $0.15 | 2,371x | n/a | Beite Technology, margin ~19%[^8] (estimate, 2025) (typical maker, stands in) |
| · · Threaded screw (`screw-shaft`) (inferred)[^1] | 1 | 154 g (model) | not public | $0.10 | n/a | n/a | not public |
| · · Planetary roller (`rollers`) (inferred)[^1] | 10 | 27 g (model) | not public | $0.02 | n/a | n/a | not public |
| · · Roller nut (`nut`) (inferred)[^1] | 1 | 33 g (model) | not public | $0.02 | n/a | n/a | not public |
| · · Nut ring gear (`nut-ring-gears`) (inferred)[^1] | 2 | 3 g (model) | not public | $0.00 | n/a | n/a | not public |
| · · Roller carrier (`roller-carriers`) (inferred)[^1] | 2 | 3 g (model) | not public | $0.00 | n/a | n/a | not public |
| · · Retaining ring (`retaining-rings`) (inferred)[^1] | 2 | 1 g (model) | not public | $0.00 | n/a | n/a | not public |
| · Force sensor (`force-sensor`) (inferred)[^1] | 1 | 33 g (model) | $50-127[^7][^6] (model, 2024) | $0.02 | 5,159x | n/a | not public |
| · · Flexure body (`sensor-flexure`) (inferred)[^1] | 1 | 33 g (model) | not public | $0.02 | n/a | n/a | not public |
| · · Foil strain gauge (`strain-gauges`) (inferred)[^1] | 4 | 0.02 g (model) | not public | $0.00 | n/a | n/a | not public |
| · · Bridge amplifier chip (`bridge-amplifier`) (inferred)[^1] | 1 | 0.00 g (model) | not public | $0.00 | n/a | n/a | not public |
| · Frameless torque motor (`frameless-motor`)[^1] | 1 | 458 g (model) | $23-57[^7][^6] (model, 2024) | $3.65 | 11x | n/a | Leadshine, margin 39%[^9] (typical maker, stands in) |
| · · Stator (`stator`) (inferred)[^1] | 1 | 388 g (model) | not public | $1.88 | n/a | n/a | not public |
| · · · Lamination stack (`stator-core`) (inferred)[^1] | 1 | 269 g (model) | not public | $0.16 | n/a | n/a | not public |
| · · · Copper windings (`stator-winding`) (inferred)[^1] | 1 | 120 g (model) | not public | $1.71 | n/a | n/a | Jiangxi Copper (typical maker, stands in) |
| · · Hollow rotor (`rotor`) (inferred)[^1] | 1 | 70 g (model) | not public | $1.77 | n/a | n/a | not public |
| · · · NdFeB magnets (`rotor-magnet`) (inferred)[^1] | 1 | 39 g (model) | not public | $1.76 | n/a | n/a | JL MAG Rare-Earth, margin ~20%[^10] (estimate, 2025) (typical maker, stands in) |
| · · · Rotor back iron (`rotor-sleeve`) (inferred)[^1] | 1 | 31 g (model) | not public | $0.02 | n/a | n/a | not public |
| · Bearings, sensor and housing (`other-parts`)[^1] | 1 | 193 g (model) | $39-98[^7][^6] (model, 2024) | $0.57 | 122x | n/a | not public |
| · · Four-point contact bearing (`four-point-bearing`) (inferred)[^1] | 1 | 18 g (model) | not public | $0.01 | n/a | n/a | NSK, margin 21%[^11][^12] (model, 2026-03) (typical maker, stands in) |
| · · Deep-groove bearing (`deep-groove-bearing`) (inferred)[^1] | 1 | 11 g (model) | not public | $0.01 | n/a | n/a | NSK, margin 21%[^11][^12] (model, 2026-03) (typical maker, stands in) |
| · · Position sensor (`position-sensor`) (inferred)[^1] | 1 | 0.91 g (model) | not public | $0.03 | n/a | n/a | not public |
| · · · Sensor board (`sensor-board`) (inferred)[^1] | 1 | 0.39 g (model) | not public | $0.01 | n/a | n/a | not public |
| · · · Angle sensor chip (`sensor-chip`) (inferred)[^1] | 1 | 0.00 g (model) | $2.07-4.41[^13] (model, 2025) | $0.00 | 220,377x | 220,377x | not public |
| · · · Diametric magnet (`sensor-magnet`) (inferred)[^1] | 1 | 0.53 g (model) | not public | $0.02 | n/a | n/a | not public |
| · · Housing (`housing`) (inferred)[^1] | 1 | 164 g (model) | not public | $0.52 | n/a | n/a | not public |
| · · · Housing tube (`housing-tube`) (inferred)[^1] | 1 | 122 g (model) | not public | $0.40 | n/a | n/a | not public |
| · · · End cap (`end-caps`) (inferred)[^1] | 2 | 37 g (model) | not public | $0.12 | n/a | n/a | not public |
| · · · Screw (`fasteners`) (inferred)[^1] | 12 | 5 g (model) | not public | $0.00 | n/a | n/a | not public |

Modeled parts weigh 906 g in all.

## Used in

Robots and catalog actuators that use this actuator or one of its design, from the /humanoids fleet and the robots and actuator catalogs.

- [Tesla Optimus Gen 2](https://actuatorlist.com/humanoids?robot=tesla-optimus): uses this actuator, 14 joints (no photo on the site). 14 joints of this design on /humanoids.
- [Kepler Forerunner K2](https://actuatorlist.com/humanoids?robot=kepler-k2): same design, 10 joints (no photo on the site). 10 joints of the same design on /humanoids.

## Cost stacks

Each priced node's unit cost in four bands that add up to it: the raw material inside, what the tiers below added on top of their raw material, this step's labour, energy, machines and overhead (with any margin we cannot attribute), and its maker's gross profit at the company's latest margin. The Sankey on the page draws the last two as flows into each step.

| Priced node | Unit cost | Raw material | Added by tiers below | Labour, energy, overhead | Maker's gross profit |
| --- | --- | --- | --- | --- | --- |
| Optimus linear actuator (`optimus-linear`) | $769 | $4.38 | $546.6 | $0.00 | $218 |
| Planetary roller screw (`roller-screw`) | $353 | $0.15 | $0.00 | $284.1 | $68.8 |
| Force sensor (`force-sensor`) | $89 | $0.02 | $0.00 | $89 | $0.00 |
| Frameless torque motor (`frameless-motor`) | $40 | $3.65 | $0.00 | $20.8 | $15.6 |
| Bearings, sensor and housing (`other-parts`) | $69 | $0.57 | $2.07 | $66.4 | $0.00 |
| Angle sensor chip (`sensor-chip`) | $2.07 | $0.00 | $0.00 | $2.07 | $0.00 |

## How the parts are made

The usual route from raw material to each part, in our words; magnets link to the steps on [/manufacturing](https://actuatorlist.com/manufacturing.md).

- Optimus linear actuator (`optimus-linear`): Mount motor, nut → Insert screw → Fit sensors → Close housing → Calibrate force → End-of-line test
- Planetary roller screw (`roller-screw`): Match rollers, nut → Assemble → Run in → Measure lead error
- Threaded screw (`screw-shaft`): Cut bar → Turn → Rough thread → Induction harden → Grind thread
- Planetary roller (`rollers`): Cut bar → Centreless grind → Thread grind → Cut end teeth → Harden
- Roller nut (`nut`): Cut tube → Turn → Internal thread grind → Harden
- Nut ring gear (`nut-ring-gears`): Turn → Shape teeth → Harden → Press into nut
- Roller carrier (`roller-carriers`): Stamp → Drill pockets
- Retaining ring (`retaining-rings`): Stamp → Harden
- Force sensor (`force-sensor`): Bond gauges → Wire bridge → Calibrate → Temperature-compensate
- Flexure body (`sensor-flexure`): Cut bar → CNC machine → Heat-treat → Grind faces
- Foil strain gauge (`strain-gauges`): Roll foil → Photo-etch grid → Laminate
- Bridge amplifier chip (`bridge-amplifier`): Wafer fab → Dice → Package → Test
- Lamination stack (`stator-core`): Slit coil → Stamp sheets → Stack and bond
- Copper windings (`stator-winding`): Draw wire → Enamel → Wind coils → Impregnate
- Rotor back iron (`rotor-sleeve`): Cut bar → CNC turn → Heat-treat
- Four-point contact bearing (`four-point-bearing`): Forge rings → Turn → Harden → Grind races → Fit balls
- Deep-groove bearing (`deep-groove-bearing`): Forge rings → Turn → Harden → Grind races → Fit balls
- Sensor board (`sensor-board`): Laminate → Drill → Plate → Etch
- Angle sensor chip (`sensor-chip`): Wafer fab → Dice → Package → Test
- Housing tube (`housing-tube`): Extrude → CNC machine → Anodise
- End cap (`end-caps`): Die-cast → CNC machine → Anodise
- Screw (`fasteners`): Cold-head → Roll thread → Heat-treat → Plate

## Raw materials

| Material | In one actuator | Price per kg | Cost |
| --- | --- | --- | --- |
| Copper | 120 g (model) | 14.3 USD/kg[^14] | $1.72 |
| NdPr alloy | 12 g (model) | 133.4 USD/kg[^15] | $1.58 |
| Aluminium | 159 g (model) | 3.25 USD/kg[^16] | $0.52 |
| Dy metal | 0.79 g (model) | 233.6 USD/kg[^17] | $0.18 |
| Bearing steel | 245 g (model) | ~0.67-0.69 USD/kg[^18] (estimate, 2025) | $0.17 |
| Electrical steel | 269 g (model) | ~0.6-0.62 USD/kg[^19] (estimate, 2026-06) | $0.16 |
| Steel | 101 g (model) | ~0.51-0.52 USD/kg[^20] (estimate, 2026-06) | $0.05 |
| Silicon | 0.01 g (model) | 3.13 USD/kg[^21] | $0.00 |

## Margin capture

Each tier's gross profit is what it sells into this actuator times its latest company gross margin (a group figure, not a product line). The rest of the price pays for labour, energy, machines and margins of makers we cannot name.

| Who | Tier | Sells in this actuator | Gross margin | Gross profit | Share of price |
| --- | --- | --- | --- | --- | --- |
| Sanhua Intelligent Controls | `optimus-linear` | $769 | 28%[^6] (model, 2025) | $218.4 | 28.4% |
| Beite Technology (typical maker) | `roller-screw` | $353 | ~19%[^8] (estimate, 2025) | $68.8 | 8.9% |
| Leadshine (typical maker) | `frameless-motor` | $40 | 39%[^9] | $15.6 | 2% |
| China Northern Rare Earth (typical maker) | `rotor-magnet-ndpr` | $1.56 | ~12%[^22] (estimate, 2025) | $0.18 | 0% |
| China Northern Rare Earth (typical maker) | `sensor-magnet-ndpr` | $0.02 | ~12%[^22] (estimate, 2025) | $0 | 0% |
| Raw material (miners' and mills' margins inside) |  | $4.38 |  |  | 0.57% |
| Everything else: makers' costs and margins we cannot attribute |  | $461.9 |  |  | 60.1% |

## Method

- Costs: the assembler keeps its gross margin, and a published share of each part in an actuator of this type splits the rest, so every part cost is a model.
- Bought-in chips and bearings: distributor or marketplace listings for the same or a comparable part, never the actuator maker's contract price.
- Raw material: grams from our part geometry times cited densities, priced with /metals for rare earths and cited commodity readings for the rest.
- Magnets: an SH-grade recipe with grain-boundary diffused Dy, from /metals.
- See [/manufacturing](https://actuatorlist.com/manufacturing.md) for how the magnet is made, and [/bom](https://actuatorlist.com/bom.md) for all three cases.

## Sources

[^1]: Optimusk, "Tesla Optimus degrees of freedom and actuators". https://optimusk.blog/blog/tesla-optimus-degrees-of-freedom-actuators/ (not opened).
[^2]: Counterpoint Research, "Tesla to leverage EV experience and Chinese partners to ace humanoids market". https://counterpointresearch.com/cn/insights/blog-tesla-to-leverage-ev-experience-and-chinese-partners-to-ace-humanoids-market-unlock-huge-revenue-potential (not opened).
[^3]: CnEVPost, "Tesla audits China suppliers ahead of Optimus mass production". https://cnevpost.com/2026/09/21/tesla-audits-china-suppliers-optimus-mass-production/ (accessed 2026-10-25).
[^4]: Huibo research (via Zhihu), "Optimus hardware BOM: rotary actuators CNY 57k, linear actuators CNY 44k, hands CNY 20k". https://zhuanlan.zhihu.com/p/687045590 (not opened). Paywalled.
[^5]: XenoSpectrum (on Morgan Stanley), "Optimus Gen 2 BOM about $55k, actuators 56% of it". https://xenospectrum.com/en/humanoid-robot-bom-actuator-cost/ (not opened). Paywalled.
[^6]: StockAnalysis, "Zhejiang Sanhua Intelligent Controls (HKG:2050) financials". https://stockanalysis.com/quote/hkg/2050/financials (not opened).
[^7]: HONPINE (RoboticsTomorrow), "Linear actuators vs rotary actuators: the core choice for humanoid robot joints". https://www.roboticstomorrow.com/content.php?post=25703 (not opened).
[^8]: StockAnalysis, "Shanghai Beite Technology (SHA:603009) financials". https://stockanalysis.com/quote/sha/603009/financials/ (not opened).
[^9]: Leadshine, "Leadshine 2025 annual report and 2026 Q1 report: revenue hits new highs". https://en.leadshine.com/newsEvent/details/Leadshine%202025%20Annual%20Report%20&%202026%20Q1%20Report:%20Accelerating%20the%20Growth%20Flywheel,%20Revenue%20Hits%20New%20Highs.html (not opened).
[^10]: StockAnalysis, "JL Mag Rare-Earth (SHE:300748) financials". https://stockanalysis.com/quote/she/300748/financials/ (not opened).
[^11]: Envalith, "NSK (6471): financial summary". https://envalith.com/en/companies/6471 (accessed 2026-11-03).
[^12]: Simply Wall St, "NSK (TSE:6471): financial summary". https://www.simplywall.st/stock/TSE/6471 (accessed 2026-11-03).
[^13]: LCSC, "Magn Tek MT6835GT-STD magnetic angle sensor (C2932578) price tiers". https://www.lcsc.com/product-detail/Position-Sensors_Magn-Tek-MT6835GT-STD_C2932578.html (not opened).
[^14]: Cbonds (World Bank Pink Sheet), "Copper (World Bank) monthly price, USD/t". https://cbonds.com/indexes/154158/ (not opened).
[^15]: Rare Earth Mining (SMM data), "Neodymium price today: NdPr spot and industrial benchmark". https://rare-earth-mining.com/neodymium-price/ (accessed 2026-10-26).
[^16]: Cbonds (World Bank Pink Sheet), "Aluminum (World Bank) monthly price, USD/t". https://cbonds.com/indexes/154154/ (not opened).
[^17]: Rare Earth Mining (SMM data), "Dysprosium price today: spot rate and market outlook". https://rare-earth-mining.com/dysprosium-price/ (accessed 2026-10-26).
[^18]: China Bearing Industry Association (CBCC), "Bearing steel market report: GCr15 absolute price index". https://bearing.com.cn/dev/read_news.php?id=73305 (not opened).
[^19]: SMM, "SMM weekly summary: non-oriented silicon steel market". https://news.metal.com/es/newscontent/103952808-SMM-Weekly-Summary-Leading-steel-mills-did-not-continue-to-push-up-prices-and-the-non-oriented-silicon-steel-market-may- (not opened).
[^20]: SMM, "Shagang June 2026 hot-rolled steel price adjustment". https://news.metal.com/id/newscontent/103932178-Informasi-Penyesuaian-Harga-Baja-Canai-Panas-Shagang-Juni-2026 (not opened).
[^21]: USGS, "Mineral Industry Surveys: silicon, December 2025". https://d9-wret.s3.us-west-2.amazonaws.com/assets/palladium/production/s3fs-public/media/files/mis-202512-simet.pdf (not opened).
[^22]: StockAnalysis, "China Northern Rare Earth (SHA:600111) income statement". https://stockanalysis.com/quote/sha/600111/financials/income-statement/ (not opened).