The gearhead is a separate piece. Thor - Assembly - YouTube 0:00 / 1:28 Thor - Assembly 40,424 views Aug 10, 2016 Assembly of Thor, the OpenSource & printable Robot Arm. He made an awesome work, and I wanted that modifications to be in the main repo, so I added it! The first project I found was the Mantis Robot Arm. Unfortunately the film was cancelled before we finished. You are about to report the project "Thor", please tell us the reason. in order to send it to the manufacturer but it won't happen the next time >:D. And I think that's all! Tip Question Comment Be the First to Share 08/03/2016 at 14:50. For the two last DOF I chose smaller steppers with the purpose of reducing their weight. You will find the full resolution image & source files at the Github repo. This robot kit was designed for educational and hobby purposes. Also the bearings of Axle 5 are removed. The sensors fit, but presumably the connector of each sensor will have to be replaced with other flatter. So I removed it from the base and made it like a tablet on a cable. Thank you for your likes, your comments, your feedback, for sharing the project, contributing to it and for building a Thor. Log in. 3D printer: I have used one with 300x220mm of printing area and 0.4mm nozzle. If everything fits then I will make it downloadable below. To make things easier, I was looking for a single model which could fit in the 4 articulations. So I recreated them. Con modifiche intendo: l'utilizzo di questo robot cnc per la realizzazione di pcb. 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. 09/10/2017 at 17:35, Standard Tesselated Geometry - 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! You can hide/show components to see what is beneath. Below the renderings of this new design. (it has to be removable). This makes adding the belts easier. 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. 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. . 133.68 kB - The more people are interested in this project, the more feedback I get. I'll send it to the manufacturer as soon as I finish another PCB I'm designing. The fan is mounted on the inside. There isn't much room but it fits. 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. a member for this project? In addition, several papers have been published in which Thor plays an relevant role. There are one assembly file for each articulation and another one called Assembly.FCstd that contains the whole assembly. (The extra holes around the bearing are just holes to save some plastic). Making the arms of the robot. Don't use a cheap chinese geo-triangle for calibration purposes. My version was 15mm and the hole is 16mm so I used some tape to make the axle a little bit wider. 864.73 kB - Sono uno studente, vorrei usarlo, con le opportune modifiche, come progetto di maturit. The external Nextion display is finally printed. This version of the model is downloadable here: http://a360.co/2BDyFyW. There are a lot of commercial and DIY grippers/vacuum/hooks around the web and for each use something different is needed. Then press it into the hole. The one I was using had many mistakes (a man may learn wit every day) and I got tired of botching it. They will freely rotate on the Axle and are driven by two motors. This follows on from the controversial $432,500 sale of a robot-produced artwork titled "Edmond de Belamy" in 2018. There are 37 different printable pieces in Thor. If you want to include the home sensors, you will need to make the PCBs and weld the components. The upper yellow part can also be mounted on the base without it. more pictures, please visit the makerobotix wiki. See you there! 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. And the lower part. Put the slot in part #7 over the nut and start to tighten the screw. Below are the main assembly robot configurations: #1 Delta Robots In its extended position, Thor is about 625mm high and can lift loads up to 750 grams. The author has designed with FreeCAD all 3D printable parts, along with sensors, actuators and other materials. I also created a 25 mm PCB compartment below the Art4LowerBody. Thor - Open Source, 3D printable Robotic Arm by AngelLM - Thingiverse Download files and build them with your 3D printer, laser cutter, or CNC. This is how it will look with the gripper mounted. can you extend the reach? In this way, access to knowledge can be guaranteed to anyone, anywhere, without any economic cost. Step 1 Firstly, identify these components. I have a Tevo Black Widow and I will try to do a amazig job as youve done. Easier assembly: the Silkscreen is a nice helper! It's a pleasure to watch your progress, I even want to change my weak parts by your ideas. a member for this project? 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. LAST REVISION: 12/06/2022, 01:44 PM The TinkerKit Braccio is a fully operational robotic arm, controlled via Arduino. Thank you so much for having such awesome documentation. This adds some structure and it can also be used to screw a custom mount on the back. 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. 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. 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. The lower bearing and the ventilation holes. . All files included in this repository are licensed under a Creative Commons Attribution-ShareAlike 4.0 International License. I want to cut it on the left side of the tape. The axle will be mounted like this. 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. And I designed a "shield" to make possible the control of 7 steppers. Feel free to add anything! 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. (You can reuse the old bearings). Assembly In this way, access to knowledge can be guaranteed to anyone, anywhere, without any economic cost. Could you make a BOM list or at least what additional orders you have done that are different than AngelLM's BOM. Feel free to take a look and share your opinions! I used FreeCAD software in order to design the pieces of the robotic arm. Everything mounted. ThorRobotics NEW ROV Underwater Drone Camera Dragonfish 200H With Manipulator Arm $11,888.00 $12,468.00 ThorRobotics ROV Underwater Drone 4K View FPV With Mechanical Arm Lite KIT DIY $998.00 $1,078.00 ThorRobotics USV New Unmanned Intelligent RC Lifebuoy Housing 2.4G Remote Control Lifebuoyremote Rescue Rope Life Saving Devices $2,098.00 $2,208.00 I want a robot that is able to act as laser engraver or mill thin plywood. Lets try to not reinventing the wheel! Please add me to the google group. We found Olaf made a comment on how to wire the gripper. It's a little bit over designed but it was nice to design something from scratch. Log in. This way you have 3 options to include a tool on Thor: 1. Give Feedback Terms of Use I'm in the process of printing and ordering the parts, missing something will give me the de-motivational 2 month delay.I'll document every step, in the similar matter you did, and I plan on simply replicating your work. I changed the gripper mounting plate to a trapezium so both parts will stay together and the existing screw holes will keep them together. Step 1: install the bearing and base Tip Question Comment Step 2: install the arm, since the pictures are two big. There is a small bump on the axle which can be aligned with the hole on the gear. Creative Commons Attribution-ShareAlike 4.0 International License. Now you can add anything interesting from the inventory on that clip. And I made 2 version. This is great and will be my next project. Below the inside of the lower part of Art 3. Today, assembly robots are found in applications far beyond automotive. This is the top of the display. You can also attach a camera or solar panel. The assembly process is pretty similar to every version of Thor up to date. When the small gears rotate in the same direction, the big gear bloks and rotates around the small gears' axis. Most of them are named correctly. 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. It works with 5V and gives a 3.3V output which can be used on both the 3.3v due and the 5v arduino. Newest Automatic Arc Welding Robot Station Automation Assembly Machine Industrial Pick And Place Robotic Manipulator Factory Buy Automatic Vehicle . thanks! I used two rotation sensors on the Art56MotorCoverRing. I used Dannys list. Then I laid the test print on the green cutting mat and it was already perfect the first time. I did my best to gather all existing project documentation in one place. We found 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. Shared under CC-BY-SA 4.0 License under CC-BY-SA 4.0 License Any ideas? The display chips become extremely hot so I created some vent holes on the top, bottom and on the back. and last updated 2 months ago. Are you sure you want to remove yourself as Its configuration (yaw-roll-roll-yaw-roll-yaw) is the same used by most of the manipulator robots on the market. Attach the last servo to the claw using the screws. And the upper part. In the new version a real axle is used and it is guided by two bearings. I will take them all in account! The only corner that wasn't perpendicular was that of the cheap chinese geo-triangle My free tip. created on 08/12/2017 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! 991.29 kB - Robotic assembly is likely one of the first images people have when they think of industrial robots. You should see the slot for the pig on part #7 (the front strut). Added a switch to power off the steppers and keep the fans working. Its replaces the potmeter in the Base and in Art3LowerBody. This will allow more users to print Thor. Thor-robotics. It is now possible to leave this part connected to the lower base and add the upper body separately. What firmware did you use for the Ultratronics board and the Arduino nano? You will need to install FreeCAD in order to open any FreeCAD file. I want 2 bearings to keep this axis as steady as possible. Hence, ground both ends. Hulk (film) Here is a link to one of the first animatronic hand projects I worked on about 10 years ago. 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)]. The robot servo motor and other components are housed in the Case, which is made of plastic. I added the screw holes for the covers. 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. 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! Become a member to follow this project and never miss any updates, About Us 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. $2,148 00. Thor is an Open Source and printable robot arm with six degrees of freedom. 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. Can you please make it avaiable in parasolid (*.x_t, *.x_b) if possible. Open Source Reconfigurable Robot Arm for Learning STEM. A Web Controlled Robot Arm There are some ventilation holes on the back side. This project was Do not over tighten. Thor is an Open Source and printable robotic arm with six degrees of freedom. Details I was looking for a 6DOF robot arm to print. It also still includes the previous version with the display on top. 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. More advanced systems will feature six-axis robots, which can move more freely than an XYZ robot. Thanks Sepio,Which firmware did you use for the ultratronics board? There is a little bit extra room for the motors in the upper position. 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. 17.57 MB - Does anybody out there have the dynamics model? This way it is possible to use two colors and it can be printed with less print support. If you open any assembly file you will see how printed parts and other components (bearings, motors, bolts, nuts) are assembled. (It takes a while for the browser to render. Simply put, robotic assembly involves a robot that constructs a variety of productsranging from large-scale systems to microscopic itemsin the most efficient operation. Now its finally printed and its available below. As a cable you can use a cut USB cable. On the left of the left fan hole (and on the right of the right hole) the wall is too thin. Sure I could build a CNC machine for this but it would more cool to have a CNC robot. 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. So I might redesign this. Or press the download button on the right top to download the model). Its been a long time since the last time I wrote a log! Not a member? In this way I want to share all the info I have with you all. Also, the Art23Optodisk has been redesigned to work properly with the new distances. As you see I have designed it for THT and SMD (1206 package) components. So, engineers developed the robotic arm to imitate the elbow, right arm, hand, and elbow movement. In its extended position, Thor is about 625mm high and can lift loads up to 750 grams. I want to gather all the features, improvements, crazy ideas that you would want to see in the new version of Thor. The AR2 doesn't have nice thick box section for the bicep, so it's more flexible in rotational and torsional loading. Thank you Olaf. 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. . I am trying to build my own Thor+ robot. Below all the parts for this custom bearing. I think that the current platforms I'm using are not the ideal ones to develop a community project. The shaft is thick enough to use 3 3mm screws to fix both parts together. Click at the link on the bottom of this blog. An error occoured on phase two. Ialso moved the screw holes to the front and the back. I also changed the orientation of the mounting screws between the upper and lower body so It can be separated without removing the covers of Art 2. It received tons of views, likes, comments, forksAnd more important than the "fame", the feedback started to arrive. One part with the big gear and one part with the shaft. 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. The cost of the whole materials is under 350. Drive Gears convert the high-speed output of the robot servo motor into a lower speed, greater torque servo output. It has been possible thanks to the FreeCAD. Thor is an Open Source and printable robot arm with six degrees of freedom. I also added the GripGear.stl (which was missing in Danny's version). This is useful when you have to check the dimensions of the bolts, for example. Hackaday API, By using our website and services, you expressly agree to the placement of our performance, functionality, and advertising cookies. In the future I might change the custom ball bearing because it has to much slack. 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. I'm proud to introduce you the new Thor's website. 09/10/2017 at 17:35. Now I'am going to start to connect al wires and start developing the software. I added a bearing. 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). Add 1by1 clip Lego on the slant 2by1. In some cases, we will replace or repair it. The extra holes are for setting the belt tension of the ART5 and 6 motors. Blow molded Thor hammer costume accessory; . Fun Stuff. The Poles call it Woz Niebeski, the Heavenly Wain. If you run out of screws, feel free to pull some screws from the base of the robot. You can watch the whole process before assembling your own and see the tricks and difficulties. 11/05/2017 at 15:24, step - Now I should be possible to use the 232-2GT belts instead of the 208-2GT belts. He is an awesome maker who did an excelent job recording and documenting the assembly of a Thor v1. Give Feedback Terms of Use But I don't really understand how it has to be mounted. Of course using OpenSource software, KiCad again. I grounded one side on the ultra board. Let the oil soak for about 20 minutes so it can lubricate the threading on the bolt and make it easier to remove. Visit us! Robot extensions can be customized to your manufacturing requirements. With that in mind, online engineering site How To Mechatronics have created a controllable 3D printed robotic arm that is operated by a self-designed smartphone app. By clicking on the right buttons you will navigate through the assembly step by step, seeing the required components in each step. Thank you too! I also dit put a flattened transistor cooling fins on top of the CPU? 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. The bearing fix. They often come with 4- to 6-axis arms with a dexterity that is comparable to a human arm. Right click and choose "Save to stl" to make it printable. This is a nice robot arm but the project seams to be abandoned. But why are you connecting the usb host controller to the analog pins and not the 2 dedicated I2C ports on the right? The outside ring of the slipring has to be removed. Select any button and assign the "press char" and "release char" as shown in fig1 and Table2. Create an account to leave a comment. They will need protection when working in corrosive liquid environments. Unit price / per . 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, sla - luiz.csilva82@gmail.comThank you. data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAKAAAAB4CAYAAAB1ovlvAAAAAXNSR0IArs4c6QAAAnpJREFUeF7t17Fpw1AARdFv7WJN4EVcawrPJZeeR3u4kiGQkCYJaXxBHLUSPHT/AaHTvu . I also changed a few parts of Art 5 and 6. After days of searching, I decided to make my own. The first human-made object to touch the Moon was the Soviet Union's Luna 2, on 13 September 1959.. An Open Source 3D Printable 6DOF Robotic Arm, 20 units have been built in at least 11 different countries. So the package includes electronics and remote control. Thor robot looked very interesting and promising as a project for our kid's club (kids are 7-13 years old). Its configuration (yaw-roll-roll-yaw-roll-yaw) is the same used by most of the manipulator robots on the market. There is not a single reason for not hacking Thor! (A rotary encoder makes it possible to continue rotating). There are one assembly file for each articulation and another one called Assembly.FCstd that contains the whole assembly. If you are reading this close to the publish date, you will find the new PCB files in the ControlPCBUpdate branch. Time ago, Danny made some modifications to largest pieces, splitting them and making them printable in 180*180mm bed area printers. 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. Project owner will be notified upon removal. The printer is printing the new components right now.I made the Art4LowerBody 15mm taller. The Art4UpperBody is currently printing. There you can download all formats. Privacy Policy Since then, this project has continued to develop little by little. Step 25 is simply to leave the machine screw in the assembly to make it easier to attach it later on. Marvellous! There were six crewed U.S. landings between 1969 and 1972, and numerous . I ordered them for 21,50 euro including shipment fromlagerkonning.nl. Also, from the very beginning I wanted everyone to became part of this project and share all the information. Can it be used for anything useful at all? Any idea what it might be now? It has been a while since I last had the time and motivation to make a substantial improvement to this project. First I had to cut the GT2 belt to length. So, some users started developing or adapting GUIs for Thor (I can't really express all my gratitude to they). There is about 29 mm room on both sides of the axle. This is the way Danny designed it. It's also a service that Google could eliminate from one day to the next, losing all the information there. The upper part with room for the PCB. In my previous log I already told that I moved the display external. 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. Step 4 After, connect the robot arm based part. And voila! Ultimately, the story plays out to reveal that Nick Fury is responsible for the death of Uatu. Sign up. Did you ever test your robot or even did you ever powered it up? What about millind PCB boards or large 3D printer? 08/03/2016 at 14:50, sla - Grab a screw and place it in the center of the hand servo horn. 2. 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. The electronic assembly is made up of a potentiometer, a controller board, and an AC or DC electric motor. 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. Finally, I chose optoisolators and a micro-endstop in order to establish a home position for the first five articulations. I am momentarily trying to use I2C to talk to the usb host for the ps4 controller. Look at the two new black spacers on the outside of the axle. Download Arm Assembly Step 3 About Us . Generally shielded wires are only grounded on one end. The final design had to be compact and safe. I wanted to hide every motor and every single wire to make it more aesthetic. . When the small gears rotate in opposite directions, the big gear rotates around its own axis. It worked well. EASY CLAIMS PROCESS: File a claim anytime online at www.Asurion.com/Amazon or by phone. There is also room for one or 2 rotation sensors on Axle 6. 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. Posso fare quanto detto in precedenza, un patto di imparare tutte le modifiche? The solution was one of the serendipitous ideas I have mentioned early. The project started in 2015 as a final degree project called Design and impplementation of an Open Source, 3D printed 6DOF robotic arm. using Blender & Blend4Web. After a while I really didn't understand why it wasn't working. Also, I designed covers and protections to reduce the risk of entrapment while the user is manipulating the robotic arm. 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. In the right side touch on buttons, now buttons are visible in bottom. 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. I added some holes for the nuts on the ring which fixes the Art 6 Axle. All Universal Robots' robotics arms are certified IP-54. I already mounted the motor. Already have an account? I'll be posting there my progress and changes too (I will still doing that here too). This is the Thor robot arm with a lot of addons and improvements. It took me a few hours to understand the values that I had to set (track width, drills diameters, etc.) and A robot arm assembly a base unit with a shoulder assembly rotatably disposed on the base unit. I have created a list where you can vote and add ideas in a quick and simple way. Assembly robots offer a range of capabilities that can allow it to position, mate, fit, and assemble components or parts for a product. Below the latest step files and stl's of al the new and changed parts. Below the gripper. Building a 6-axis robot arm based on the AngelLM's Thor robot and the add-on's and improvements of dannyvandenheuvel. The GripServoMount has some extra room for the servo (on the bottom). I use some Alkotip wipes to clean the glass plate before printing. Assembly Robots. The shaft itself is wide enough for another 24 wire slipring. In its upright position, Thor is about 625mm and it can lift objects up to 750 grams. I am going to make the hole smaller for the pulley. I splitted this axle into 2 parts. At Thor's Website will find updated info about this project, manuals, list of materials, the community forum and much more. Below, the diagram of the electronics in charge of controlling the Robot. People need to be able to communicate and convey their message to the customers to run a successful business. 59 robot arm projects Gesture Controlled Trainable Arduino Robot Arm via. Exciting! In its extended position, Thor is about 625mm high and can lift loads up to 750 grams. Eventualmente specificatemi colomba pubblicarle. I don't know why but the notifications were off :(, Hello, did anyone From germany build this very cool Thing? Thor then buries the armor under a mountain slide. 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. Grab two screws and secure the claw to the hand servo horn. This interactive instruction manual is something I made years ago for the test version of Thor v2. There are (at least) 4 Thors assembled & operational around the world and another 17 being built! Perfect for this purpose. 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! Step 3 Thirdly, connect the first servo motor as follows. [ Assembly Tips ] - 149-pcs-project requires great patience and carefulness. The motors tookup a lot of space and there wasn't a single small area to establish the second support point for the second articulation axis. The project started in 2015 as a final degree project called Design and implementation of an Open Source, 3D printed 6DOF robotic arm. An Open Source 3D Printable 6DOF Robotic Arm. I want to use PWM and a thermistor to cool those motors below the 65 degrees PLA can handle. The automotive industry was one of the first to adopt industrial robots for assembly. This is a nice robot arm but the project seams to be abandoned. The Art5Top Covers are almost finished. Contact Hackaday.io The Nextion was fitted in the base cover. 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.. "/> I didn't use one). If a little taller (by 5mm) 1.5A motors used . Thingiverse is a universe of things. Learn More. Assembly robotic arms are used to automate tasks that involve putting products together including electronic components, machinery, furniture, and automotive assemblies. 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. Splicing shouldn't be a problem.That depends. Quantity. There is one big axle. 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. The rotary encoder I used (from ebay). Ventilation grills in every articulation. After a question of Olaf I tried to tilt the display on the base plate. The wiring of the display, the meters and the buttons. 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. The Art3Body piece has been redesigned to fix the sensor of the 4th Articulation. There are so many ways in which the Braccio can extend the reach of your devices. Become a member to follow this project and never miss any updates, About Us Forward Kinematics implementation (1st version) , Inverse Kinematics implementation (2nd version). Zip Archive - 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. I'll work with them again for sure! Eco-friendly wood sheets, necessary spare parts . Grab the last servo and four M3*6 screws. 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. If you open this file in Fusion 360 (free for home use) then you are able to open the tree. There just isn't enough room for all the wires. This way I can redesign the "big ring" part and add two bearings (the bearings shown are to big). These would be the key features of Asgard GUI: (features marked with a are already implemented!). The result was precise, almost without backlash (after some printing sla - The last few days I changed some parts. There is just a few mm to mount the screw which forms Axle 6. Sorry for the late reply! If possbile, please download from the wiki to see the more pictures. It's the crossover episode you've been dreaming about! As this project has attracted different kinds of people, I thought that it could be nice to simplify this issue: making Thor compatible with commercial sensors instead of creating the custom ones. I will start my Thor in Jan. 2018. Because of the fan holes the ART5 covers didn't fit anymore. 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". This way the screw thread will work. 1.24 MB - The fan intake. Workplace Enterprise Fintech China Policy Newsletters Braintrust rust escape string Events Careers 4k security camera system with audio The ART56 interface place also contains a hole for future usage. THOR robot arm is now simulated in Robot Overlord. Any chance you can share the software you used to control the steppers? I didnt use a firmware. On the axle it will be mounted like this: Below the new gears. There is also to much room on the Axle. Thor is an Open Source and printable robotic arm with six degrees of freedom, designed using FreeCAD. Iuse a small 24V to 5V DC to DC step down convertor. 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. This compartments is optional. Sign up. 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. The middle part with the ring contains a nut on which the Art 6 Axle with the big orange gear is mounted. The small orange gears and Pulleys are (going to be) connected with a screw. That doesn't work ;-). if yes, did you post the files as well? based on your interests. I am still learning how the arduino stuff works. And let's be honest, although it has been useful, Thor's Google Group mailing list is not pleasant to use. to Thor: OpenSource 3D printable Robotic Arm. I used PETG for some black parts. (But his downloadable STL is different). This stays unchanged. 6. 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. There is some room for the air to escape. I didn't like the way the ART56 gears are mounted. You can find the source files at the Github repository. Don't blame me for my question. Yay! I have only tested it using the 3D models. 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. The project has a hackaday page, and a github one. But there are no bearings inside Axis6. Click open in browser en you will see the latest version of the modal and a download button in the upper right corner. To make the experience fit your profile, pick a username and tell us what interests you. Forward and Inverse kinematics can be manipulated visually in 3D. To make the rotation sensor work the Axle has to be fixed inside the gear. I am also going to redesign the two small gears so the pulley will fit tightly. 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 initial idea was design a DIY PCB board, but due to its limitations and how cheap is to manufacture it in China I decided to design a better control board. Its not perfect at all, but it helps to understand the assembly. The axles can be "screwed" into placed by placing them into a electrical screwdriver. Some are printed with PETG. The big hole is for the SD card. Hackaday API. Below the rendering of the new structure. Thor is an Open Source and printable robot arm with six degrees of freedom. This way it can be tightened better. Many Git commands accept both tag and branch names, so creating this branch may cause unexpected behavior. The Robotic Arm with Gesture Control (Arduino + Kinect) This project involves directing a robotic arm with gestures. Never found any information about precision. Need to use hot glue gun to fix M3 nuts as some parts are not accessible during assembly. Materials. Thors community is growing fast! Use a flat tool to push the bearing in it's hole. [3] [4] You will need to install FreeCAD in order to open any FreeCAD file. Best,Naturobotic. . I just made a Wiring Diagram for the Control PCB v1.0 board. - (If there is room another 5MM spacer. Open the app and touch on empty space. Then put the other bearing on the bottom side. It's also recommended to weld a wire extension to the steppers wires, specially for the last three ones. (I might even be able to keep the shaft hollow to guide some wires). 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. based on your interests. . 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). You signed in with another tab or window. Thor on the other hand has essentially the same designas a modern lightweight arm, with modifications for very low cost. The stl file of the gripper part does not exist in the githup folder. Keep the color the same. There is just enough slack to mount the belt. Make the Control PCB and weld the components! The axle with the holder can now be fitted into the big gear. (If you experience any. Can you please tell me what servo you did use in your project? -Art56SmallGear_For16x7PulleyShaft_01.stl. This GUI is called Asgard and is OpenSource too. The design of the 4th articulation had an issue, I didn't find a commercial bearing adjusted to my needs. It is space-saving and can be reprogrammed quickly to be used with different machines. Roy the Robot is a project to create a human sized animatronic character from only laser cut mechanics and off the shelf hobby servos. I already ordered a few different sized 6xxx series ball bearings. Malfunctions covered after the manufacturer's warranty. 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 inside there is a small black cover on top of the SD card reader. Inspired by a solution that some users used for the Ciclop's bearing, I designed the bearing using 6mm airsoft balls as bearing balls. Make sure the gears align perfectly. In terms of licenses, I wanted this project to be Open Source because I want anyone to have the opportunity to study, modify and improve it. I have also released a new Thor design. This way a Gap of about 14 mm is created between the Art56MotorCoverRing and the stepper motors. I hope you like this project as much as I do,ngel L.M. EDIT: I forgot to say that I also did a Frequently Asked Questions in order to answer them :). 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. Now it should be no problem to use PLA. I added some 40x40x11mm cooling fans to the ART4BottomBody . If both the left and right small orange gear are rotating in the same direction then Art 6 is going up or down. 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. If you have some suggestions/tips/comments please post them! 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