In its extended position, Thor is about 625mm high and can lift loads up to 750 grams. and 3D printer: I have used one with 300x220mm of printing area and 0.4mm nozzle. The fan is mounted on the inside. Thank you for your likes, your comments, your feedback, for sharing the project, contributing to it and for building a Thor. The changed and new parts can be downloaded here: -Art56MotorCoverRing_01.stl-Art56GearPlateAxleHolder_01.stl-Axle6Fixer.stl-Art56SmallGear_For16x7PulleyShaft_01.stl -Art56SmallGear_For20x6PulleyShaft_01.stl. I also added the GripGear.stl (which was missing in Danny's version). There are few laws that apply across every one of the million and more worlds of the Imperium of Man, and those that do are mostly concerned with the duties and responsibilities o 08/03/2016 at 14:50. I use some Alkotip wipes to clean the glass plate before printing. A tag already exists with the provided branch name. Plus, they also created this tool with servo motors. I did my best to gather all existing project documentation in one place. The small orange gears and Pulleys are (going to be) connected with a screw. I will be happy to know what do you think about this! Thor: OpenSource 3D printable Robotic Arm 1-30 of 126 IMPORTANT: This Google Group is obsolete, the community has been migrated to the new Thor website. The axles can be "screwed" into placed by placing them into a electrical screwdriver. Great Project! Can it be used for anything useful at all? The solution was one of the serendipitous ideas I have mentioned early. I also made them in two parts. After cleaning I use a (very) little bit of 3DLAC. Any ideas? I tried to calibrate the printer multiple times but every time i measured the corners with a geo-triangle they where not perpendicular. Features: dimensions:24,7-cm H x 19,6-cm W x 26-cm D; customizable framework; Under "PrintedParts" you find all parts. Communication Communication is the ability to express one's ideas and thoughts to other people using expressions, words, or actions. Very interesting project on that you are working I am also doing the same job here onpjsbuildingservicessite and this will help me to boost my projects quality. The cover contains the bearing and this will tighten the belt. This way it wasn't easy to read and it was also dangerous to operate. Thor-robotics. This is the buildlog of the Thor+ robot I'm building right now. While I was designing the second and third articulations I was worried about the available space. I added some holes for the nuts on the ring which fixes the Art 6 Axle. Below a few photo's of the construction of Art 5 and 6. Easier assembly: the Silkscreen is a nice helper! One step closer to fully open source process automation! One thing is clear, this project has become known, at least more known than I expected at the beginning, and I cannot do other than thank you! Learn More. Sign up. 6. Sorry for the late reaction.Most of the parts I printed are printed with PLA. It works with 5V and gives a 3.3V output which can be used on both the 3.3v due and the 5v arduino. The robot servo motor and other components are housed in the Case, which is made of plastic. Exciting! (it has to be removable). I changed the Art4 transmission Axle. From now I'll group all info there and I'll be answering the questions there. There were six crewed U.S. landings between 1969 and 1972, and numerous . If you want to include the home sensors, you will need to make the PCBs and weld the components. Lets try to not reinventing the wheel! High Technology and Precision Robot Arm and Automatic Vacuum or Suction Cup for Pick Place Transportation Metal Sheet Plate or Stock Image Image of picking, industrial: 201249557 . But in the heathen times of the northern nations it was the Wagon of Odin, Woden, or Wuotan, the father of Thor, and the Irmines Wagen of the Saxons. Added 3 confirmation LEDs (Power Input, PCB Power, Arduino Power). Ventilation grills in every articulation. The last few weekends I made an enclosure for the power supply. People need to be able to communicate and convey their message to the customers to run a successful business. This is the top of the display. Also, I designed covers and protections to reduce the risk of entrapment while the user is manipulating the robotic arm. The wiring of the display, the meters and the buttons. There is a small bump on the axle which can be aligned with the hole on the gear. Since then, this project has continued to develop little by little. :). I need this schematic please, if someone can give me the file I would really appreciate it, https://cdn.hackaday.io/images/6778151470241404077.jpg, Hi! It is possible to remove or add a M5 spacers (two steps up) to change the gap between the gears. Iuse a small 24V to 5V DC to DC step down convertor. That doesn't work ;-). Your doing fantastic work! I might redesign Axle 6 again. (You can reuse the old bearings). Already have an account? A GUI designed using Qt and programmed in Python. Now it was time to mount it al together. I will have to find a way to wire the rotation sensors. Make the Control PCB and weld the components! But why are you connecting the usb host controller to the analog pins and not the 2 dedicated I2C ports on the right? The Poles call it Woz Niebeski, the Heavenly Wain. Create profitable strategy to import Wheel well in Andorra with Top Wheel well exporting importing countries, Top Wheel well importers & exporters based on 0 import shipment records till Dec - 22 with Ph, Email & Linkedin. thanks! The ART56 interface place also contains a hole for future usage. I used two rotation sensors on the Art56MotorCoverRing. I ordered them for 21,50 euro including shipment fromlagerkonning.nl. Afterwards, remove the stickers. Instead of integrating a gripper into the design I decided to make an adaptable design making an interface between the end-effector and the robotic arm. My version was 15mm and the hole is 16mm so I used some tape to make the axle a little bit wider. You signed in with another tab or window. This is a nice robot arm but the project seams to be abandoned. Its configuration (yaw-roll-roll-yaw-roll-yaw) is the same used by most of the manipulator robots on the market. Become a member to follow this project and never miss any updates, About Us Recently I have received several questions about the sensors Im using to establish the home position of Thor (opto-couplers, opto-transistors, opto-switches whatever). 11/05/2017 at 11:57, Zip Archive - 11/05/2017 at 15:24, step - Thor is an Open Source and printable robot arm with six degrees of freedom. Were there any exceptions to the 3D material use for your print on certain parts. I splitted this axle into 2 parts. You can use self threaded screws or "5mm long m3 Threaded Brass Knurl Round Insert Nuts" to mount the back to the front (just put them on a long screw and user a lighter to warm the nut. I have already lose lots of printings using it until I discovered I have to deal with my rooms temperature too. Step 3 Thirdly, connect the first servo motor as follows. I have added a piece of black tape on the Axle 6. Step 1: install the bearing and base Tip Question Comment Step 2: install the arm, since the pictures are two big. Not a member? Grab two screws and secure the claw to the hand servo horn. Thor-robotics. Explore the development of a DIY EVI Windcontroller for survival of this great instrument, An open-source, 3D printed, high precision robotic arm with trainability. . This way I can redesign the "big ring" part and add two bearings (the bearings shown are to big). The gearhead is a separate piece. Next week I can tell if everything fits. Project owner will be notified upon removal. I2C with the PS4 controller LOL First you need pull up resistors, Danny warned me about this and he was right.Second I think there is a bug in the firmware on I2C that does not happen when you use Serial. Thor on the other hand has essentially the same designas a modern lightweight arm, with modifications for very low cost. Thor 3D printed Robots The Thor Project The Thor Project is a project created by AngelLM, who wanted to create an Open-Source 3D printable Robotic Arm. Grab a screw and place it in the center of the hand servo horn. (You need a shielded 4 wire cable). The small gears are supposed to rotate freely on the axle but the aren't any spacers to prevent them to go up or down the axle. Everything mounted. Now take a slant 2by1 and attach it to the 1by1. I just made a Wiring Diagram for the Control PCB v1.0 board. Its been a long time since the last time I wrote a log! You can find the source files at the Github repository. Many people liked the robot, but not the way to control it. If you want to keep the EMI outside the cable, ground one end.So if a signal is small in magnitude (think audio signal like microphone circuit) ground one end to keep interference from outside corrupting the signal inside the cable (including interference created by a ground loop if you were to ground both ends).If you are connecting something like a strobe signal (large AC signal) go ahead a ground both ends as goal is to make sure what is inside doesn't radiate to the outside (groundloop induced corruption of the large strobe signal is a non-issue).In the case of an RS-232 signal you have a fairly large signal [5V or more Peak to peak) running at almost 10KHZ baseband frequency (or more)]. Con modifiche intendo: l'utilizzo di questo robot cnc per la realizzazione di pcb. Sorry for the late reply! EDIT: I forgot to say that I also did a Frequently Asked Questions in order to answer them :). Now its finally printed and its available below. LAST REVISION: 12/06/2022, 01:44 PM The TinkerKit Braccio is a fully operational robotic arm, controlled via Arduino. Below my print setup. I didn't use one). There is just enough slack to mount the belt. Materials. DannyvandenHeuvel created the Thor+ robot which is an improved version with many add-ons. This stays unchanged. Hi Sepio Man !! The rotary encoder I used (from ebay). In this way, access to knowledge can be guaranteed to anyone, anywhere, without any economic cost. Releasing the source files and doing so under an open source licence was the best option: anyone could study any element of the robot in depth and, moreover, modify or adapt it to their needs. The EVI is at-risk of becoming extinct. Already have an account? Save $20 Quantity. To make things easier, I was looking for a single model which could fit in the 4 articulations. I used a spring as a strain relief on the cable. And then I found the'Thor' robot with addons and GUIfrom Dannyvandenheuvel. Unit price / per . PTEG is a very dificult filament to work. So I recreated them. Then, take a box-end wrench and slide a hollow metal bar over the handle so you can add length and give you more torque to turn the wrench.Fit the wrench over the head of the stuck bolt and hold it at the very end of the bar.. "/> The shaft itself is wide enough for another 24 wire slipring. There is just a few mm to mount the screw which forms Axle 6. If you mount 2 of them on the same Axle then it will be possible to measure all directions. Download Arm Assembly Step 3 About Us . In its extended position, Thor is about 625mm high and can lift loads up to 750 grams. Open the app and touch on empty space. This is a nice robot arm but the project seams to be abandoned. I don't know why but the notifications were off :(. Thor is an Open Source and printable robot arm with six degrees of freedom. This way a Gap of about 14 mm is created between the Art56MotorCoverRing and the stepper motors. Can you please make it avaiable in parasolid (*.x_t, *.x_b) if possible. This is how it will look with the gripper mounted. Any idea what it might be now? In the new version a real axle is used and it is guided by two bearings. If you want to know more about this project, visit the Thor Website, where you will find documentation, manuals and a forum to solve all your doubts. Give Feedback Terms of Use Thank you Olaf. First seen in the Temple of Darkness in Asia, the Destroyer is used by Thor's arch-foe Loki against him. The more people are interested in this project, the more feedback I get. The cable is fastened with a tiewrap. Attach the Claw. The art 4 has changed slightly. What about millind PCB boards or large 3D printer? That's why I decided to make my own program to control Thor. This way the electrical wire will stay out of the belts way. The project has a hackaday page, and a github one. You will find the full resolution image & source files at the Github repo. Since then, this project has continued to develop little by little. So i ordered GT2 232 mm belts. I chose pololu A4988 as stepper drivers. I added support for the LPD3806-600BM rotary encoder. If you try to use this kind of arm for a CNC robot I think you'll probably run into issues with the accuracy and rigidity of this arm. I want to use PWM and a thermistor to cool those motors below the 65 degrees PLA can handle. To make the experience fit your profile, pick a username and tell us what interests you. . The upper part with room for the PCB. This is an important process and you should be familiarized with it, as you might have to disassembly some parts in order to fix or adjust some things in the future. Thor then buries the armor under a mountain slide. Can you please tell me what servo you did use in your project? And I made 2 version. - The Axle6Fixer that prevents the axle from moving up or down. 133.68 kB - 3. From right to left. Step 4 After, connect the robot arm based part. Its configuration (yaw-roll-roll-yaw-roll-yaw) is the same one that is used on most manipulator robots that currently exist in the market. and last updated 4 years ago. The hole inside the Axle is 22mm. Below the Base part. The cost of the whole materials is under 350. Its also possible to use some heat shrink tube. And you can capture the gestures with a Kinect sensor. They will need protection when working in corrosive liquid environments. Why not use the shaft of the stepper of the third articulation as the support point for the second articulation axis? The first project I found was theMantis Robot Arm. Small ball bearings will be added to the small gears. I recently discovered that I can build a 6DOF arm with my printer. This makes it possible to lay it flat on the table or put it upright. Some design solutions are inspired by commercial robots, others are the result of hours of work and others are just serendipitous ideas. It is space-saving and can be reprogrammed quickly to be used with different machines. Its configuration (yaw-roll-roll-yaw-roll-yaw) is the same one that is used on most manipulator robots that currently exist in the market. It will be a tight fit. Its becomes extremely hot. It also still includes the previous version with the display on top. Easy to use and accurate hand eye calibration which has been working reliably for years (2016-present) with kinect, kinectv2, rgbd cameras, optical trackers, and several robots including the ur5 and kuka iiwa. I would like to do that by making this Axle hollow and use large bearings on the outside of the shaft. This adds some structure and it can also be used to screw a custom mount on the back. This compartments is optional. a member for this project? Feel free to add anything! I am trying to build my own Thor+ robot. Assembly robotic arms are used to automate tasks that involve putting products together including electronic components, machinery, furniture, and automotive assemblies. And on the other side I will add some plastic to add a bearing. Assembly robots offer a range of capabilities that can allow it to position, mate, fit, and assemble components or parts for a product. The bearing can't go deep enough and the screw hole to fix the pulley and the gear is 0.5mm off. The sensor for the 2nd and 3rd Articulations are placed in a similar position as the custom ones, I modified the Art2BodyB piece adding fixing point for them. It worked well. The one I was using had many mistakes (a man may learn wit every day) and I got tired of botching it. I want a robot that is able to act as laser engraver or mill thin plywood. and the kids can use the operation lever to control various actions of the robotic arm easily, allowing the child to explore and enjoy the fun of hydraulic toy. I have also taken the opportunity to add new documentation and improve the existing one in order to make the project accessible to more people. More advanced systems will feature six-axis robots, which can move more freely than an XYZ robot. It is now possible to leave this part connected to the lower base and add the upper body separately. And let's be honest, although it has been useful, Thor's Google Group mailing list is not pleasant to use. Are you sure you want to remove yourself as Also, the Art23Optodisk has been redesigned to work properly with the new distances. Do not over tighten. Unfortunately the film was cancelled before we finished. to Thor: OpenSource 3D printable Robotic Arm. Danny added the feedback sensors in V2.02. If you open any assembly file you will see how printed parts and other components (bearings, motors, bolts, nuts) are assembled. Below all the new/changed parts of the Art 3 upper body and the Art 4 shaft. I already mounted the motor. I am happy with the current setup. Also, I migrated the design to FreeCAD in order to have the source files too ;), EDIT 21/12/16: I have migrated another 2 modifications to FreeCAD :), On the left, my remix of Art4Body modification made by Danny. Assembly Robots. I also dit put a flattened transistor cooling fins on top of the CPU? The GripMountB is a little bit thicker. Join us! Thor Open Source Robotic Arm from Spain Thor is an Open Source and 3D printable robotic arm with six degrees of freedom developed by ngel Larraaga Muro from Madrid, Spain. If you open any assembly file you will see how printed parts and other components (bearings, motors, bolts, nuts) are assembled. He explains the process in spanish, but if you are not familiarized with this language, you can activate the captions to get an idea of what he is talking about. based on your interests. Hackaday API. Hence, ground both ends. By rotating the inner part the balls are traveling to the bottom and the hole is free to insert the next ball. I grounded one side on the ultra board. Assembly The automotive industry was one of the first to adopt industrial robots for assembly. Now you can add anything interesting from the inventory on that clip. A potentiometer or optical rotation sensor will be added later. Also, from the very beginning I wanted everyone to became part of this project and share all the information. Best,Naturobotic. This way it can be tightened better. Buttered Side Down 1 Simply put, robotic assembly involves a robot that constructs a variety of productsranging from large-scale systems to microscopic itemsin the most efficient operation. The upper bearing. Hi Luiz, there was a problem with the Google Group but now it's fixed and you should be able to join it! In the future I might change the custom ball bearing because it has to much slack. It took me about 3 spools of 1kg to print all the pieces. Tendr algn documento sobre la cinemtica directa y la cinemtica inversa del robot. Thor - Assembly - YouTube 0:00 / 1:28 Thor - Assembly 40,424 views Aug 10, 2016 Assembly of Thor, the OpenSource & printable Robot Arm. It took me a few hours to understand the values that I had to set (track width, drills diameters, etc.) The author has designed with FreeCAD all 3D printable parts, along with sensors, actuators and other materials. This project was I think that it wont be hard to find that kind of sensors in other online-shops, but I tend to use Aliexpress because of its large catalogue. This is great and will be my next project. First put a bearing on the top side. For some pieces supports are needed. But it was difficult to print. There are 37 different printable pieces in Thor. So, without further ado, these are the changes I made in the design (on the left side the old design and on the right side the new design): The sensor for the 1st Articulation is now fixed to the BaseBot piece. Add 1by1 clip Lego on the slant 2by1. Eventualmente specificatemi colomba pubblicarle. All rectangle where shaped as diamonds. Hi Emre, I'll fix it soon in the Github repo, meanwhile you can get the gripper in thingiverse: https://www.thingiverse.com/thing:1611164, If someone can add me to the google group Ill appreciate it a lot :), Hi Ivan, there was a problem with the Google Group but now it's fixed and you should be able to join it!Sorry for the late reply! At Thor's Website will find updated info about this project, manuals, list of materials, the community forum and much more. A printed hollow screw adds some strength and can be used to hold everything at its place during the build. Become a member to follow this project and never miss any updates, About Us Being so affordable, I think almost every school/university/maker could make good use of at least one! This board is based on RAMPS 1.4 and acts as a shield for an Arduino Mega, supporting up to 8 stepper drivers (A4988 and compatible). Sepio I downloaded your STEP files but my Solid Works couldnt import them . I added the screw holes for the covers. Could you make a BOM list or at least what additional orders you have done that are different than AngelLM's BOM. Attach the last servo to the claw using the screws. Assembly Line Worker JOBS 10. Marvellous! I added some 40x40x11mm cooling fans to the ART4BottomBody . Did you ever test your robot or even did you ever powered it up? I used FreeCAD software in order to design the pieces of the robotic arm. Now it should be no problem to use PLA. The hole inside the gear is too big. Project tutorial by KureBas Robotics 60,339 views 64 comments 284 respects Robotic Hand Control Using EMG Project tutorial by Dmytro Dziuba 54,091 views 34 comments 138 respects Robot Arm with Controller Project tutorial by HomeMadeGarbage 50,743 views 27 comments Is used some foam tape and some electric tape to make the slipring a little bit thicker. Thanks Sepio!, Since the original Thor design do you think that Thor+ and your changes have increased the max payload from the original 750g? I am going to make the hole smaller for the pulley. It will save my wallet! On the back of the back panel there is a square (with all those small holes). - Day 16.zipThe Body4 and Cover5 parts are untested. I like the whole robot, but I'm especially proud of these 3 solutions: This kind of transmission allows it to do two types of movements using two small gears that act over a big one. The project started in 2015 as a final degree project called Design and impplementation of an Open Source, 3D printed 6DOF robotic arm. There are some ventilation holes on the back side. You may encounter this issues (mine was with a PS3), https://hackaday.io/project/16483-building-the-thor-robot/log/56239-ps3-controller-i2c-concerns. But that wasn't working because the robot arm could collide with it. You will need to install FreeCAD in order to open any FreeCAD file. Give Feedback Terms of Use The wheels are driven by two rotation servos, while one servo is used to lift the arm and another servo for open and close the gripper. The Art3Body piece has been redesigned to fix the sensor of the 4th Articulation. Sorry, I'm building a cheap Thor design, and I need the schematic of the PCB to control the robot motors, I saw the original board and it is impossible to make it with the elements that I have, so I need the schematic to be able to do it myself. luiz.csilva82@gmail.comThank you. Details I was looking for a 6DOF robot arm to print. Privacy Policy What firmware did you use for the Ultratronics board and the Arduino nano? You should The UR robot can be used in most assembly applications. This robot kit was designed for educational and hobby purposes. It's also recommended to weld a wire extension to the steppers wires, specially for the last three ones. But at this point, I don't really know the state of that GUIs. thor endgame . The enclosure has an emergency button to cut the power of the 5 and 25V line and 2 separate volt and amp meters with a cut of switch for the 5V en the 24V line. The first human-made object to touch the Moon was the Soviet Union's Luna 2, on 13 September 1959.. Investigating the murder of Uatu the Watcher, a murder mystery story begins to unfurl with Nick Fury and the Avengers piecing together what happened at Uatu's moon base. Thor robot looked very interesting and promising as a project for our kid's club (kids are 7-13 years old). Feel free to take a look and share your opinions! To set your password you will have to follow this link. . Thor is an Open Source and printable robot arm with six degrees of freedom. I also tested if I could fit the GT2 208 mm belts but the motors can go high enough. It received tons of views, likes, comments, forksAnd more important than the "fame", the feedback started to arrive. The project started in 2015 as a final degree project called Design and implementation of an Open Source, 3D printed 6DOF robotic arm. Its configuration (yaw-roll-roll-yaw-roll-yaw) is the same used by most of the manipulator robots on the market. Added a switch to power off the steppers and keep the fans working. It also supports up to 8 endstops (1 per motor) and a pwm output to control the robot tool. A robot arm assembly a base unit with a shoulder assembly rotatably disposed on the base unit. General rule is:If you want to keep EMI inside the cable, ground both ends. I used the Art2 body parts as a mounting template. https://hackaday.io/project/26341-building-and-improving-the-thor-robot-arm/log/71425-day-20-latest-version. The wrist in particular is superior to AR2's. and Animated by a nearby lifeforce, it battles Thor to a standstill, Loki is forced to intervene and stop the Destroyer using lethal force when Odin threatens to kill him. Printing Profile: I recommend to slow down the outer shell speed at least to 50% of its normal printing speed in order to get accurate results on holes, gears, etc. Below, the diagram of the electronics in charge of controlling the Robot. If a little taller (by 5mm) 1.5A motors used . There is a small gap between the orange Art4 part and the Black Art 3 part. Follow the following steps for making the rams of the robot. The m3 nut is 5.5 mm the hole is 5mm.. Select any button and assign the "press char" and "release char" as shown in fig1 and Table2. Here are 5 of the top painting robots specifically designed for professional-grade surface finishing. Kinova produces the JACO Assistive robotic arm, a six-axis robotic manipulator arm with a two- or three-finger hand to improve the life of people with mobility issues. if yes, did you post the files as well? Or press the download button on the right top to download the model). This way it is possible to use two colors and it can be printed with less print support. I changed the gripper mounting plate to a trapezium so both parts will stay together and the existing screw holes will keep them together. The extra holes are for setting the belt tension of the ART5 and 6 motors. The final design had to be compact and safe. After days of searching, I decided to make my own. Below a few photo's of the idea I have. But there are no bearings inside Axis6. To make the rotation sensor work the Axle has to be fixed inside the gear. There is also room for a 40x40 fan. Dont worry if you mess up on any of these files, you can always download them again. Are you sure you want to create this branch? Workplace Enterprise Fintech China Policy Newsletters Braintrust rust escape string Events Careers 4k security camera system with audio In this project I will share my building of experience of Danny's version of the Thor robot. When the small gears rotate in the same direction, the big gear bloks and rotates around the small gears' axis. The last few days I changed some parts. Most of them are named correctly. This way, actuating over the two small gears allowed me to place the steppers as lower as I could, transmitting the movement with GT2 belts and reducing the torque generated by the motor's weight. If you have some suggestions/tips/comments please post them! Below are the main assembly robot configurations: #1 Delta Robots The electronic assembly is made up of a potentiometer, a controller board, and an AC or DC electric motor. I used Dannys list. This makes adding the belts easier. All files included in this repository are licensed under a Creative Commons Attribution-ShareAlike 4.0 International License. For the electronics I chose an Arduino Mega as main controlling board. Make It Your Way! Blow molded Thor hammer costume accessory; . 17.57 MB - For the transmission of the third, fifth and sixth articulation I have used GT2 Pulleys and GT2 Belts. There are one assembly file for each articulation and another one called Assembly.FCstd that contains the whole assembly. Below a rendered preview of the new design. Check his channel for more awesome projects! By clicking on the right buttons you will navigate through the assembly step by step, seeing the required components in each step. The small black part is the plug. The arm is designed to be manufactured with minimal fabrication effort: the only instances of manual fabrication are drilling the arm's base plate and linkage body tubes, sawing the linkage body tubes, and heat-setting several brass inserts into 3D printed parts. Drag and drop the buttons as shown in video. Step 25 is simply to leave the machine screw in the assembly to make it easier to attach it later on. If everything fits then I will make it downloadable below. [3] [4] I want to gather all the features, improvements, crazy ideas that you would want to see in the new version of Thor. Everyone can access, everyone can ask/answer/show, it's easy and clear and it's free. An error occoured on phase two. I can't for the life of me figure out how to rotate it so it is in line with the X Y Z planes so it will print flat. 991.29 kB - Below all the parts for this custom bearing. Thank you very much! Have a nice Christmas eve. 2 bearings and the pulley are 27mm. I don't know why but the notifications were off :(, Hello, did anyone From germany build this very cool Thing? The downloadable version is 15.5 mm. I loved this design but I was missing the feedback sensors. This is useful when you have to check the dimensions of the bolts, for example. I ask before starting to print the arm. I have migrated the users, but not the passwords, so if you had posted a message in this group you will have your user created in the new forum. Radiated harmonics could cause all sort of issues. Use a flat tool to push the bearing in it's hole. I want to cut it on the left side of the tape. It's also a service that Google could eliminate from one day to the next, losing all the information there. I added a bearing. Log In. (If you experience any. We will now attach a servo arm to the Arm Bottom plate, this is the base of the MeArm. Your arm is already now. (It takes a while for the browser to render. A lower robot arm is pivotably attached to the shoulder assembly. Most claims approved within minutes. Click open in browser en you will see the latest version of the modal and a download button in the upper right corner. I have test printed it and everything fits but i made some of the walls too thin (on the left and right side of the vent holes). This time I have taken it up with enthusiasm and I think it has been worth the effort. I going to design 6 DOF gripper arm, can you help me in design:). An Open Source 3D Printable 6DOF Robotic Arm. In this page you will see instructions and videos that may not be for the lastest version, but in general is applicable to almost the entire assembly process. If both the left and right small orange gear are rotating in the same direction then Art 6 is going up or down. In its extended position, Thor is about 625mm high and can lift loads up to 750 grams. Instead of grippers designed to assemble cars on an assembly line, the robots have x-ray emitters and sensors that can be precisely positioned on either side of the horse's . Open Source Reconfigurable Robot Arm for Learning STEM. I am momentarily trying to use I2C to talk to the usb host for the ps4 controller. Below on the bottom the old version. But I don't really understand how it has to be mounted. So, some users started developing or adapting GUIs for Thor (I can't really express all my gratitude to they). There is a growing need for high-speed, robotic assembly of small parts. First I had to cut the GT2 belt to length. The new version can be download here. So I removed it from the base and made it like a tablet on a cable. I have many questions! No problems detected after it. In the image below on the top the motor mount (and motor) are touching the mount with the screw hole. Not everyone knows how the GCodes work and, even if you know it, sometimes you don't want to type a GCode to move a robotic arm. We found Click at the link on the bottom of this blog. Grimm cites Herwagen, probably the Horwagen of Bayer and the Hurwagen of Caesius; while a common English name now is the Waggon. Thor has been developed using only open source tools: FreeCAD for the 3D modeling, KiCAD for the PCB design and GBRL as firmware for the control electronics. 7.50 MB - Any-tasks, fully modular humanoid robotics platform. I already ordered a few different sized 6xxx series ball bearings. Eco-friendly wood sheets, necessary spare parts . Do not worry about that cut, there are no circuits in that zone of the PCB, so can be cut gently. Im back! Below the latest step files and stl's of al the new and changed parts. Communication is to receive or send any kind of information. We will send you an Amazon e-gift card for the purchase price of your covered product. This makes printing easier. To date, more than 20 units have been built in at least 11 different countries. There is about 29 mm room on both sides of the axle. See you there! Keep the color the same. I hope it will help me. Create an account to leave a comment. Take a 1by1 Lego for the base of the arm. This has been possible thanks to the 2 layers board, and it will allows to simply connect a ribbon cable with a 2x18 connector without "hacking it". Iadded fans to all the parts with motors because they will get hot. Does anybody out there have the dynamics model? Of course, I shared it on the Thor's Github repository. For every piece there have been a lot of iterations behind the final one. Use a electrical screw driver to screw theArt56GearPlateAxleHolder_01 on the axle. more pictures, please visit the makerobotix wiki. And voila! One for a 20x6mm pulley shaft and another for a 16x7mm pulley shaft. . Forward and Inverse kinematics can be manipulated visually in 3D. Just a small preview. 08/03/2016 at 14:50, sla - You are about to report the project "Thor", please tell us the reason. A screw is used to hold the big gear of Axle 6 on top of the small gears. The result was precise, almost without backlash (after some printing sla - created on 08/12/2017 Hello everyone! As you see I have designed it for THT and SMD (1206 package) components. 745.20 kB - In this way, access to knowledge can be guaranteed to anyone, anywhere, without any economic cost. Thor is an Open Source and printable robot arm with six degrees of freedom. I wanted to hide every motor and every single wire to make it more aesthetic. Nema 17; L=40mm; Holding torque: 39.22 N.cm, Important Announcement: Community migration & Thor v2.1, Danny made some modifications to largest pieces, BaseBot modification made by Ctrl-Alt-Dude, https://www.thingiverse.com/thing:1611164. I also created a 25 mm PCB compartment below the Art4LowerBody. This follows on from the controversial $432,500 sale of a robot-produced artwork titled "Edmond de Belamy" in 2018. And I designed a "shield" to make possible the control of 7 steppers. In its extended position, Thor is about 625mm high and can lift loads up to 750 grams. The board of this sensor has to be cut to avoid the collision with the Art4TransmissionColumn piece. For the two last DOF I chose smaller steppers with the purpose of reducing their weight. Thor ControlPCB ControlPCB is the board used in the Thor project to control the stepper motors that drive the robotic arm. I did a redesign of the Art 3 upper and lower body and the Art4 Axle. To make the experience fit your profile, pick a username and tell us what interests you. Iam currently printing this new design. the robot arm assembly as claimed in claim 5, wherein the first transmission mechanism comprises a first belt transmission assembly, and a first rotary shaft, the first belt transmission. They are fast, kind and very cheap :D And the quality of the PCBs is incredible, very professional. The plug will fit in the hole of the outer part on the left side. Below the Art 3 upper and lower part are mounted together. If the small gear are rotating in the opposite direction then Art 6 is rotating. Hackaday API, By using our website and services, you expressly agree to the placement of our performance, functionality, and advertising cookies. Log in. Put the slot in part #7 over the nut and start to tighten the screw. The first project I found was the Mantis Robot Arm. This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository. 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