thor robot arm assembly

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! Thor is an Open Source and printable robot arm with six degrees of freedom. 08/03/2016 at 14:50, sla - Here are 5 of the top painting robots specifically designed for professional-grade surface finishing. The Art3Body piece has been redesigned to fix the sensor of the 4th Articulation. There is a small bump on the axle which can be aligned with the hole on the gear. Robot extensions can be customized to your manufacturing requirements. There are 37 different printable pieces in Thor. I am also going to redesign the two small gears so the pulley will fit tightly. There isn't much room but it fits. The Nextion was fitted in the base cover. 11/05/2017 at 15:24, step - Sure I could build a CNC machine for this but it would more cool to have a CNC robot. It will be a tight fit. As you may have realized, all of the hardware I have chosen is commonly used on DIY 3D printers. 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. using Blender & Blend4Web. One part with the big gear and one part with the shaft. There just isn't enough room for all the wires. We found - Day 16.zipThe Body4 and Cover5 parts are untested. When the small gears rotate in opposite directions, the big gear rotates around its own axis. Below a few photo's of the idea I have. 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. EASY CLAIMS PROCESS: File a claim anytime online at www.Asurion.com/Amazon or by phone. The AR2 doesn't have nice thick box section for the bicep, so it's more flexible in rotational and torsional loading. Thingiverse is a universe of things. Hi Luiz, there was a problem with the Google Group but now it's fixed and you should be able to join it! Download Arm Assembly Step 3 About Us . And voila! On the back of the back panel there is a square (with all those small holes). For the two last DOF I chose smaller steppers with the purpose of reducing their weight. By rotating the inner part the balls are traveling to the bottom and the hole is free to insert the next ball. Add 1by1 clip Lego on the slant 2by1. Privacy Policy if yes, did you post the files as well? From now I'll group all info there and I'll be answering the questions there. 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 Ultimately, the story plays out to reveal that Nick Fury is responsible for the death of Uatu. The Robotic Arm with Gesture Control (Arduino + Kinect) This project involves directing a robotic arm with gestures. And you can capture the gestures with a Kinect sensor. It is now possible to leave this part connected to the lower base and add the upper body separately. I also made them in two parts. Now it should be no problem to use PLA. The plug will fit in the hole of the outer part on the left side. This stays unchanged. (I might even be able to keep the shaft hollow to guide some wires). I am trying to build my own Thor+ robot. It works with 5V and gives a 3.3V output which can be used on both the 3.3v due and the 5v arduino. [3] [4] A GUI designed using Qt and programmed in Python. There is enough room for the belts. . So I already added a hole to the Art56Interface (on the right side). The upper bearing. Great Project! Open the app and touch on empty space. There you can download all formats. A lamp made of 930 laser cut parts in a heavily geometric design, An octopodal robotic platform for rough terrain exploration, A personal project to overhaul my home lab setup, and install new benches, Mini mill made from cheap Chinese parts and a pile of 2x4 scraps, Day 19: Taller Art4LowerBody + New Art4PCBBody. Made by ngel L.M. Below are the main assembly robot configurations: #1 Delta Robots There is a nut in de orange part with the axle. A potentiometer or optical rotation sensor will be added later. The hole in small orange gear is much bigger then the GT2 pulley. Details I was looking for a 6DOF robot arm to print. I hope you like this project as much as I do,ngel L.M. :). This way you have 3 options to include a tool on Thor: 1. And if it rotates the screw becomes looser. Yay! ;). The GripServoMount has some extra room for the servo (on the bottom). The axle with the holder can now be fitted into the big gear. Step 4 After, connect the robot arm based part. But if you want to be more in touch with Asgard and Thor notices and developments, I would recommend you to join us at Thor's Google Groups community! Now you can add anything interesting from the inventory on that clip. For the electronics I chose an Arduino Mega as main controlling board. Thors community is growing fast! Below the gripper. Then somebody pointed me to the Thor OpenSource 3D printable Robotic Arm from Angel LM. I am momentarily trying to use I2C to talk to the usb host for the ps4 controller. Thor then buries the armor under a mountain slide. The new version can be download here. The makerblock rotation sensor doesn't support a full 360 degrees rotation. However, there are some great people out there who have done it so that we can all learn from them. 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. 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. Afterwards, remove the stickers. You can modify the interface, placing the mounting holes wherever you need them. 08/03/2016 at 14:50, sla - The connections between the drivers and the male pins that connect with the Arduino Mega are now well driven. Buttered Side Down 1 I want to gather all the features, improvements, crazy ideas that you would want to see in the new version of Thor. 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. Thor-robotics. It can be assembled in several ways for multiple tasks such as moving objects. 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). Did you ever test your robot or even did you ever powered it up? I changed the gripper mounting plate to a trapezium so both parts will stay together and the existing screw holes will keep them together. Where can I find. Day 16: Redesign of Body 4, Covers 5 and some small changes to the gripper. Because I never found any video of people using their robots for anything useful, I want to ask what it can be used for (really). Are you sure you want to remove yourself as Hi all, I see that it is recommended to use 5:18 to 1 Nema 17 34mm stepper motors but I can only find 42mm motors with an overall length of 70mm, is there enough room in the arm to install these motors? So i ordered GT2 232 mm belts. Zip Archive - You rock! Are you sure you want to remove yourself as Could you make a BOM list or at least what additional orders you have done that are different than AngelLM's BOM. The cover contains the bearing and this will tighten the belt. You can watch the whole process before assembling your own and see the tricks and difficulties. The project started in 2015 as a final degree project called Design and impplementation of an Open Source, 3D printed 6DOF robotic arm. 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. There are so many ways in which the Braccio can extend the reach of your devices. 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)]. I want to use PWM and a thermistor to cool those motors below the 65 degrees PLA can handle. I have been in other communities of Google Groups and it works so well. Blow molded Thor hammer costume accessory; . To develop this project, I have been involved in several areas of expertise: In order to have a nice accuracy on the moves without raising the price too much, I chose stepper motors for the movement transmission. I just made a Wiring Diagram for the Control PCB v1.0 board. The external Nextion display is finally printed. In its extended position, Thor is about 625mm high and can lift loads up to 750 grams. Best,Naturobotic. You will find the full resolution image & source files at the Github repo. The gearhead is a separate piece. The bearing fix. An error occoured on phase two. Step 1: install the bearing and base Tip Question Comment Step 2: install the arm, since the pictures are two big. It has been possible thanks to the FreeCAD. This is useful when you have to check the dimensions of the bolts, for example. I think that the current platforms I'm using are not the ideal ones to develop a community project. 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. . On the left of the left fan hole (and on the right of the right hole) the wall is too thin. 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. And you will be able to help, give/get feedback and share your ideas, progress and modifications with other community members. I want 2 bearings to keep this axis as steady as possible. As a birthday gift I want to boost this project, but I'll need help from the community to do it. This is how it will look with the gripper mounted. Is used some foam tape and some electric tape to make the slipring a little bit thicker. 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. 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. 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. 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). Painting robots were in the news last year when a robot artist, name Ai-Da, became the first to stage an exhibition. I added some 40x40x11mm cooling fans to the ART4BottomBody . The ART56 interface place also contains a hole for future usage. 29.57 kB - There are one assembly file for each articulation and another one called Assembly.FCstd that contains the whole assembly. Malfunctions covered after the manufacturer's warranty. Follow the following steps for making the rams of the robot. If you are reading this close to the publish date, you will find the new PCB files in the ControlPCBUpdate branch. 17.57 MB - You should see the slot for the pig on part #7 (the front strut). Since then, this project has continued to develop little by little. Grab the last servo and four M3*6 screws. (The gear has to be able to rotate freely on it's axle. Thank you Olaf. Special thanks to @angelILM for producing the STL files and dimensions on request. I feel confident it won't be long before RO is talking to the firmware and any THOR owner can drive their arm from the software. I want a robot that is able to act as laser engraver or mill thin plywood. See you there! 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. I moved the mounting points for the upper body to the upper body. Hackaday API. Can it be used for anything useful at all? Thor on the other hand has essentially the same designas a modern lightweight arm, with modifications for very low cost. From the beginning, the project was very well received. As a cable you can use a cut USB cable. - (If there is room another 5MM spacer. Some things that I have though about but not in the short-term: Finally, this is the current look of the graphical part of Asgard: I'll be posting logs as the development reach the different versions. (If you experience any. To be honest, until now it was pretty tricky I made my own sensors using a DIY CNC for the PCBs and soldering the components by myself. An Open Source 3D Printable 6DOF Robotic Arm, 20 units have been built in at least 11 different countries. 08/03/2016 at 14:50, sla - They are fixed inside the new part so the rotation sensor will work. Use a flat tool to push the bearing in it's hole. The EVI is at-risk of becoming extinct. 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 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. Iam currently printing this new design. I have a Tevo Black Widow and I will try to do a amazig job as youve done. Robotic assembly is likely one of the first images people have when they think of industrial robots. I added a bearing. I used some tape to hold the plug in place. Any ideas? It's a little bit over designed but it was nice to design something from scratch. 09/10/2017 at 17:35. This way it is possible to use two colors and it can be printed with less print support. I already mounted the motor. The electronic assembly is made up of a potentiometer, a controller board, and an AC or DC electric motor. The final design had to be compact and safe. Also, I designed covers and protections to reduce the risk of entrapment while the user is manipulating the robotic arm. Using optoisolators instead of mechanical stop allows it to rotate more than 360 degrees without colliding with the sensor. 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. Also, the Art23Optodisk has been redesigned to work properly with the new distances. On the inside there is a small black cover on top of the SD card reader. 6. When the small gears rotate in the same direction, the big gear bloks and rotates around the small gears' axis. The board of this sensor has to be cut to avoid the collision with the Art4TransmissionColumn piece. Also the bearings of Axle 5 are removed. Create an account to leave a comment. This way it is still removable and by using the 3 screws for the Art56Interface it is possible to keep everything in the right place. 08/03/2016 at 14:50. Many people liked the robot, but not the way to control it. Could you please post it in english? I added the screw holes for the covers. Ventilation grills in every articulation. You should In my previous log I already told that I moved the display external. After a question of Olaf I tried to tilt the display on the base plate. The display chips become extremely hot so I created some vent holes on the top, bottom and on the back. 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. I used PETG for some black parts. Sign up. Are you sure you want to create this branch? For the first three ones was an easy task, but the sensor located in the Art3body piece for the 4th Articulation had to be pretty small to not collide with the Art4TransmissionColumn piece. 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. Feel free to take a look and share your opinions! Plus, they also created this tool with servo motors. Thor robot looked very interesting and promising as a project for our kid's club (kids are 7-13 years old). EDIT: I forgot to say that I also did a Frequently Asked Questions in order to answer them :). THOR robot arm is now simulated in Robot Overlord. I already ordered a few different sized 6xxx series ball bearings. 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 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. This way it can be tightened better. Hi Zubiar, which part of the connections are you missing? Step 3 Thirdly, connect the first servo motor as follows. 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. What firmware did you use for the Ultratronics board and the Arduino nano? A big way to enhance these 3D printed robotic arm projects is to integrate technology that everyone has access to. The SCARA Robotic Arm will be controlled via USB cable or WIFI. Woah, time goes by really fast. No problems detected after it. So I returned to PLA and decided to add fans to all parts with motors. 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. I splitted this axle into 2 parts. and We found In its extended position, Thor is about 625mm high and can lift loads up to 750 grams. That's why I've taken the trouble to migrate all the messages to a forum hosted on the new site, much more intuitive to use in my opinion. Of course using OpenSource software, KiCad again. In the image below on the top the motor mount (and motor) are touching the mount with the screw hole. Forward and Inverse kinematics can be manipulated visually in 3D. Newest Automatic Arc Welding Robot Station Automation Assembly Machine Industrial Pick And Place Robotic Manipulator Factory Buy Automatic Vehicle . Use a electrical screw driver to screw theArt56GearPlateAxleHolder_01 on the axle. 133.68 kB - Assembly Robots. 1.24 MB - Thor is an Open Source and printable robotic arm with six degrees of freedom. Dont worry if you mess up on any of these files, you can always download them again. Finally, I chose optoisolators and a micro-endstop in order to establish a home position for the first five articulations. The inner ring has to go on the inside and can be used to push the bearing on its place. Using a lot of platforms is convenient for spreading the word, but not for focus the information That's why I decided to make the Thor mail-list community. can you extend the reach? The first human-made object to touch the Moon was the Soviet Union's Luna 2, on 13 September 1959.. If they are too long then Ihave to change the mounts between the upper and lower body. Now its finally printed and its available below. The one I was using had many mistakes (a man may learn wit every day) and I got tired of botching it. In my opinion, this is the best way to learn how to assembly anything. I would like to do that by making this Axle hollow and use large bearings on the outside of the shaft. Visit us! 09/10/2017 at 17:35, Standard Tesselated Geometry - Eco-friendly wood sheets, necessary spare parts . An Open Source 3D Printable 6DOF Robotic Arm. Thor is an Open Source and printable robotic arm with six degrees of freedom, designed using FreeCAD. This way its easier to keep in your hands and if the cable is long enough you can stay out of reach of the robot arm. 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. Thor - Assembly - YouTube 0:00 / 1:28 Thor - Assembly 40,424 views Aug 10, 2016 Assembly of Thor, the OpenSource & printable Robot Arm. I added support for the LPD3806-600BM rotary encoder. I had some calibration problems with my printer. 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.. "/> Assembly - Steps 24, 25. - The Axle6Fixer that prevents the axle from moving up or down. It's my first time programming something that doesn't use the terminal for the user interaction so please be gentle with me hahaha. I did a redesign of the Art 3 upper and lower body and the Art4 Axle. Everything mounted. Easier assembly: the Silkscreen is a nice helper! Any-tasks, fully modular humanoid robotics platform. Become a member to follow this project and never miss any updates, About Us Download the app "Bluetooth Electronics" from Playstore. The lower bearing and the ventilation holes. Thor is an Open Source and printable robot arm with six degrees of freedom. It took me about 3 spools of 1kg to print all the pieces. data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAKAAAAB4CAYAAAB1ovlvAAAAAXNSR0IArs4c6QAAAnpJREFUeF7t17Fpw1AARdFv7WJN4EVcawrPJZeeR3u4kiGQkCYJaXxBHLUSPHT/AaHTvu . I also dit put a flattened transistor cooling fins on top of the CPU? (You can reuse the old bearings). For the transmission of the third, fifth and sixth articulation I have used GT2 Pulleys and GT2 Belts. The hole inside the Axle is 22mm. In its extended position, Thor is about 625mm high and can lift loads up to 750 grams. This board allows to control up to 8 stepper drivers (instead of 7 of the previous version). I have many questions! He is an awesome maker who did an excelent job recording and documenting the assembly of a Thor v1. 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). 08/03/2016 at 14:50, sla - Some are printed with PETG. It's also easier during programming because you don't have to remove the base cover to get to the SD card of the Nextion display. Thank you so much for having such awesome documentation. Step 25 is simply to leave the machine screw in the assembly to make it easier to attach it later on. Don't use a cheap chinese geo-triangle for calibration purposes. I'll be posting there my progress and changes too (I will still doing that here too). The automotive industry was one of the first to adopt industrial robots for assembly. Then I have 2 parts. There is a small gap between the orange Art4 part and the Black Art 3 part. There is also room for one or 2 rotation sensors on Axle 6. By rotating the gear 60 degrees it is possible to increase or decrease the length of the axle and the force on both bearings. In the new version a real axle is used and it is guided by two bearings. All rectangle where shaped as diamonds. Thor is an Open Source and printable robot arm with six degrees of freedom. From right to left. Now it can be printed like below. The second version can be downloaded below. In its extended position, Thor is about 625mm high and can lift loads up to 750 grams. Check the complete Sr. Ferretes Thor Playlist here. Hi Sepio Man !! Besides the aesthetic changes it is worth mentioning the new features: And that's all, I hope you like this new news and see you on the new website! This robot kit was designed for educational and hobby purposes. Or press the download button on the right top to download the model). Then put the other bearing on the bottom side. I used FreeCAD software in order to design the pieces of the robotic arm. (You need a shielded 4 wire cable). I tried to create stl files from the fusion 360 project and hit issues because the claw alignment is slightly out. I have created a list where you can vote and add ideas in a quick and simple way. Its been a long time since the last time I wrote a log! This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository. FYI: the last commit where you can find the older files (the ones for the custom sensors) is this one: b86594c4d48fa64d71cc373a52b4e3dac6e4bde9. ThorRobotics NEW ROV Underwater Drone Camera King Crab 100X With Manipulator Arm. This compartments is optional. My version was 15mm and the hole is 16mm so I used some tape to make the axle a little bit wider. Right click and choose "Save to stl" to make it printable. So, some users started developing or adapting GUIs for Thor (I can't really express all my gratitude to they). What is Robotic Assembly? The axles can be "screwed" into placed by placing them into a electrical screwdriver. Need to use hot glue gun to fix M3 nuts as some parts are not accessible during assembly. To make things easier, I was looking for a single model which could fit in the 4 articulations. I might drill a hole on the bottom of the ring for the wires. The more people are interested in this project, the more feedback I get. Next week I can tell if everything fits. It's also recommended to weld a wire extension to the steppers wires, specially for the last three ones. This way a Gap of about 14 mm is created between the Art56MotorCoverRing and the stepper motors. Look at the two new black spacers on the outside of the axle. Its recommended to use the PC for opening this interactive instruction manual, as the website loading time takes time and its not responsive for smartphone displays. I ask before starting to print the arm. Feel free to add anything! 3D printer: I have used one with 300x220mm of printing area and 0.4mm nozzle. Grab a screw and place it in the center of the hand servo horn. At Thor's Website will find updated info about this project, manuals, list of materials, the community forum and much more. You signed in with another tab or window. The fan intake. You will need to install FreeCAD in order to open any FreeCAD file. 2 bearings and the pulley are 27mm. A printed hollow screw adds some strength and can be used to hold everything at its place during the build. 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. $3,130 00. Select any button and assign the "press char" and "release char" as shown in fig1 and Table2. Splicing shouldn't be a problem.That depends. Become a member to follow this project and never miss any updates, About Us The hole inside the gear is too big. 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. On the right side of the servo there is some extra room. All files included in this repository are licensed under a Creative Commons Attribution-ShareAlike 4.0 International License. We will send you an Amazon e-gift card for the purchase price of your covered product. Thor is more modern engineering-wise though. A lower robot arm is pivotably attached to the shoulder assembly. Quantity. The upper part with room for the PCB. This is padmanaban. All Universal Robots' robotics arms are certified IP-54. I use some Alkotip wipes to clean the glass plate before printing. in order to send it to the manufacturer but it won't happen the next time >:D. And I think that's all! If you mount 2 of them on the same Axle then it will be possible to measure all directions. I had to choose stepper motors with mechanical reduction for the second and third articulation in order to manage the torque generated in these articulations. And this is not the only change I am proud to announce. From now on, the google group will be obsolete and only the new forum will be used, in order to centralise all information in one place. I am going to change the small gears also. I did my best to gather all existing project documentation in one place. (It takes a while for the browser to render. Just hold the inside and the outside of the bearing in place and fill the hole with balls. After days of searching, I decided to make my own. 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. Because of the fan holes the ART5 covers didn't fit anymore. Since then, this project has continued to develop little by little. Small ball bearings will be added to the small gears. Thank you too! Designed in FreeCAD 0.19 and based on an old redesign I started a few years ago, Thor v2.1 is now available for download. I ordered them to PCBWay and my experience was great! To make the experience fit your profile, pick a username and tell us what interests you. Most of them are named correctly. On the axle it will be mounted like this: Below the new gears. It has been 3 years since I released Thor! The Art 3 lower body. (it has to be removable). The shaft is thick enough to use 3 3mm screws to fix both parts together. We have opted to create our own Robotics Control Board, the DEVIA. 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. Shared under CC-BY-SA 4.0 License under CC-BY-SA 4.0 License Never found any information about precision. Any chance you can share the software you used to control the steppers? I don't know why but the notifications were off :(, Hello, did anyone From germany build this very cool Thing? Sorry for the late reaction.Most of the parts I printed are printed with PLA. your work is amazing, Danny has done a tremendous piece of engeneering and you must be very proud to have Danny saying that your work is fantastic. Then somebody pointed me to theThor OpenSource 3D printable Robotic Arm from Angel LM. I want to add a PCB to connect the electronics in the Upper part to the slipring in the Art4Transmission column. To make the rotation sensor work the Axle has to be fixed inside the gear. Designed for low height printers, thank you again Danny :), On the right, the BaseBot modification made by Ctrl-Alt-Dude for 190*190mm print area. Danny added the feedback sensors in V2.02. But why are you connecting the usb host controller to the analog pins and not the 2 dedicated I2C ports on the right? The gear-head can be screwed with 6 self taping screws on the shaft. Robot arm kit Arduino UNO board PWM servo motor driver Servo motors Jumper wires Step 2 Secondly, take the robotic arm kit and remove the parts one by one. But at this point, I don't really know the state of that GUIs. By clicking on the right buttons you will navigate through the assembly step by step, seeing the required components in each step. The story of Thor losing his arm begins in Marvel's comic event, Original Sin. Its configuration (yaw-roll-roll-yaw-roll-yaw) is the same used by most of the manipulator robots on the market. Keep the color the same. Give Feedback Terms of Use For every piece there have been a lot of iterations behind the final one. 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. Thor ControlPCB ControlPCB is the board used in the Thor project to control the stepper motors that drive the robotic arm. Check soon my fork of the grbl repo to get the lastest firmware for the ControlPCB board. https://hackaday.io/project/26341-building-and-improving-the-thor-robot-arm/log/71425-day-20-latest-version. -Art56SmallGear_For16x7PulleyShaft_01.stl. Building a 6-axis robot arm based on the AngelLM's Thor robot and the add-on's and improvements of dannyvandenheuvel. 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. 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. If you open any assembly file you will see how printed parts and other components (bearings, motors, bolts, nuts) are assembled. . 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. Thanks Sepio,Which firmware did you use for the ultratronics board? In this project I will share my building of experience of Danny's version of the Thor robot. Below the inside of the lower part of Art 3. Tip Question Comment Step 3: Intall the Arm this is the step for the arm. [email protected] you. Now I'am going to start to connect al wires and start developing the software. Click open in browser en you will see the latest version of the modal and a download button in the upper right corner. Perfect for this purpose. The downloadable version (below) is 1mm thicker. I changed the Art4 transmission Axle. There are (at least) 4 Thors assembled & operational around the world and another 17 being built! Not a member? The Art4UpperBody is currently printing. I didn't like the way the ART56 gears are mounted. Its not perfect at all, but it helps to understand the assembly. 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". It's also a service that Google could eliminate from one day to the next, losing all the information there. In this way I want to share all the info I have with you all. Time ago, Danny made some modifications to largest pieces, splitting them and making them printable in 180*180mm bed area printers. Assembly robotic arms are used to automate tasks that involve putting products together including electronic components, machinery, furniture, and automotive assemblies. Its replaces the potmeter in the Base and in Art3LowerBody. I'll work with them again for sure! The solution was one of the serendipitous ideas I have mentioned early. This way it can still be mounted together and the shaft is fixed between two bearings. Your arm is already now. So I recreated them. Jan 30, 2021 - Assembly of Thor, the OpenSource & printable Robot Arm.It has been possible thanks to the FreeCAD Workbench ExplodedAssembly (https://github.com/JMG1 . Iuse a small 24V to 5V DC to DC step down convertor. The Poles call it Woz Niebeski, the Heavenly Wain. Exciting! It is possible to remove or add a M5 spacers (two steps up) to change the gap between the gears. This is the top of the display. I also changed a few parts of Art 5 and 6. You will need to install FreeCAD in order to open any FreeCAD file. Below the renderings of this new design. There is a little bit extra room for the motors in the upper position. Under "PrintedParts" you find all parts. Any idea what it might be now? This way the electrical wire will stay out of the belts way. Radiated harmonics could cause all sort of issues. The big hole is for the SD card. A tag already exists with the provided branch name. . Roy the Robot is a project to create a human sized animatronic character from only laser cut mechanics and off the shelf hobby servos. They will freely rotate on the Axle and are driven by two motors. It was done with Blender and embebed in a website thanks to the Blend4Web framework. You can find the source files at the Github repository. If a little taller (by 5mm) 1.5A motors used . (In a later stadium i used a knife to remove the bump. Iadded fans to all the parts with motors because they will get hot. The wrist in particular is superior to AR2's. 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. 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