It's also recommended to weld a wire extension to the steppers wires, specially for the last three ones. 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. The EVI is at-risk of becoming extinct. So I decided to redesign it. Now you can add anything interesting from the inventory on that clip. 2. The printer is printing the new components right now.I made the Art4LowerBody 15mm taller. It's the crossover episode you've been dreaming about! The DFRobot 5 DOF Robotic Arm Kit consists of all of the servo motors, brackets, fasteners and other hardware that you will need to construct a small but powerful robotic arm complete with a gripper mechanism. Small ball bearings will be added to the small gears. There is not a single reason for not hacking Thor! Below the gripper. They are fixed inside the new part so the rotation sensor will work. The only corner that wasn't perpendicular was that of the cheap chinese geo-triangle My free tip. Did you ever test your robot or even did you ever powered it up? 08/03/2016 at 14:50, sla - 09/10/2017 at 17:35, Standard Tesselated Geometry - I ask before starting to print the arm. Below my print 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. Of course, I shared it on the Thor's Github repository. Most claims approved within minutes. I added the screw holes for the covers. Click at the link on the bottom of this blog. 7.50 MB - 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. 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. This is a nice robot arm but the project seams to be abandoned. 1.24 MB - 59 robot arm projects Gesture Controlled Trainable Arduino Robot Arm via. Thanks Sepio!, Since the original Thor design do you think that Thor+ and your changes have increased the max payload from the original 750g? From now I'll group all info there and I'll be answering the questions there. Thor then buries the armor under a mountain slide. 864.73 kB - 6. Unfortunately the film was cancelled before we finished. 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. After days of searching, I decided to make my own. The downloadable version (below) is 1mm thicker. In my opinion, this is the best way to learn how to assembly anything. 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. Making the arms of the robot. PTEG is a very dificult filament to work. If you want to include the home sensors, you will need to make the PCBs and weld the components. I think that the current platforms I'm using are not the ideal ones to develop a community project. I changed the gripper mounting plate to a trapezium so both parts will stay together and the existing screw holes will keep them together. Sure it is a great project to learn lots about robotics, firmware and maybe ROS too. 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! and Step 3 Thirdly, connect the first servo motor as follows. I added a bearing. Are you sure you want to create this branch? The upper bearing. You are about to report the project "Thor", please tell us the reason. 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. One step closer to fully open source process automation! Newest Automatic Arc Welding Robot Station Automation Assembly Machine Industrial Pick And Place Robotic Manipulator Factory Buy Automatic Vehicle . . Robot extensions can be customized to your manufacturing requirements. Day 16: Redesign of Body 4, Covers 5 and some small changes to the gripper. 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. Assembly robotic arms are used to automate tasks that involve putting products together including electronic components, machinery, furniture, and automotive assemblies. You should Today, assembly robots are found in applications far beyond automotive. Of course using OpenSource software, KiCad again. Unit price / per . The wiring of the display, the meters and the buttons. The axles can be "screwed" into placed by placing them into a electrical screwdriver. 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! 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. 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. Below the rendering of the new structure. The SCARA Robotic Arm will be controlled via USB cable or WIFI. to Thor: OpenSource 3D printable Robotic Arm. This adds some structure and it can also be used to screw a custom mount on the back. The hole in small orange gear is much bigger then the GT2 pulley. I just made a Wiring Diagram for the Control PCB v1.0 board. It has a powerful ARM Cortex M0 processor and a bunch of input/output ports + sensors. 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 I used a spring as a strain relief on the cable. Any-tasks, fully modular humanoid robotics platform. a member for this project? 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. (But his downloadable STL is different). I have already lose lots of printings using it until I discovered I have to deal with my rooms temperature too. 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". This interactive instruction manual is something I made years ago for the test version of Thor v2. 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. Exciting! If you open this file in Fusion 360 (free for home use) then you are able to open the tree. 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. What firmware did you use for the Ultratronics board and the Arduino nano? The last few days I changed some parts. 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. THOR robot arm is now simulated in Robot Overlord. Eventualmente specificatemi colomba pubblicarle. A lower robot arm is pivotably attached to the shoulder assembly. 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. How To Mechatronics' Robotic Arm. 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. and General rule is:If you want to keep EMI inside the cable, ground both ends. Afterwards, remove the stickers. 08/03/2016 at 14:50, sla - This way the electrical wire will stay out of the belts way. Many Git commands accept both tag and branch names, so creating this branch may cause unexpected behavior. DannyvandenHeuvel created the Thor+ robot which is an improved version with many add-ons. I wanted to hide every motor and every single wire to make it more aesthetic. I already ordered a few different sized 6xxx series ball bearings. I'll send it to the manufacturer as soon as I finish another PCB I'm designing. The Art5Top Covers are almost finished. I did a redesign of the Art 3 upper and lower body and the Art4 Axle. Check soon my fork of the grbl repo to get the lastest firmware for the ControlPCB board. Thor robot looked very interesting and promising as a project for our kid's club (kids are 7-13 years old). It also still includes the previous version with the display on top. First and the most necessary: Reverse current protection circuit. To set your password you will have to follow this link. Sorry for the late reaction.Most of the parts I printed are printed with PLA. An upper robot arm is. Now I'am going to start to connect al wires and start developing the software. There are (at least) 4 Thors assembled & operational around the world and another 17 being built! The outside is about 20mm. In this project I will share my building of experience of Danny's version of the Thor robot. 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. Marvellous! Make sure the gears align perfectly. And I designed a "shield" to make possible the control of 7 steppers. The shaft itself is wide enough for another 24 wire slipring. I am still learning how the arduino stuff works. So I returned to PLA and decided to add fans to all parts with motors. - Day 16.zipThe Body4 and Cover5 parts are untested. There is a little bit extra room for the motors in the upper position. Since then, this project has continued to develop little by little. Below the Art 3 upper and lower part are mounted together. Use a flat tool to push the bearing in it's hole. Under "PrintedParts" you find all parts. In this way, access to knowledge can be guaranteed to anyone, anywhere, without any economic cost. The Art3Body piece has been redesigned to fix the sensor of the 4th Articulation. Do not over tighten. I have a Ultimaker 2 Extended + with top cover and door. Let the oil soak for about 20 minutes so it can lubricate the threading on the bolt and make it easier to remove. Below a few photo's of the construction of Art 5 and 6. I didnt use a firmware. 133.68 kB - First seen in the Temple of Darkness in Asia, the Destroyer is used by Thor's arch-foe Loki against him. Privacy Policy Time ago, Danny made some modifications to largest pieces, splitting them and making them printable in 180*180mm bed area printers. The assembly process is pretty similar to every version of Thor up to date. The wrist in particular is superior to AR2's. We will send you an Amazon e-gift card for the purchase price of your covered product. Also the bearings of Axle 5 are removed. Drag and drop the buttons as shown in video. Save $20 Quantity. Below a few photo's of the idea I have. The sensors fit, but presumably the connector of each sensor will have to be replaced with other flatter. https://hackaday.io/project/26341-building-and-improving-the-thor-robot-arm/log/71425-day-20-latest-version. In this way, access to knowledge can be guaranteed to anyone, anywhere, without any economic cost. I also added the GripGear.stl (which was missing in Danny's version). Automotive manufacturing - essentially the first industry to standardize on robotic automation - utilizes heavy-duty six axis robots to increase capacity and improve quality in their manufacturing processes.. Today, assembly line robots stretch far beyond automotive, as we see more and more . 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. It is now possible to leave this part connected to the lower base and add the upper body separately. Thor is an Open Source and printable robotic arm with six degrees of freedom. Below on the bottom the old version. 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. 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 Contact Hackaday.io The ART56 interface place also contains a hole for future usage. 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 2 bearings and the pulley are 27mm. Below the inside of the lower part of Art 3. . I use some Alkotip wipes to clean the glass plate before printing. 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. Made by ngel L.M. LAST REVISION: 12/06/2022, 01:44 PM The TinkerKit Braccio is a fully operational robotic arm, controlled via Arduino. In the future I might change the custom ball bearing because it has to much slack. This time I have taken it up with enthusiasm and I think it has been worth the effort. Can it be used for anything useful at all? I want 2 bearings to keep this axis as steady as possible. 08/03/2016 at 14:50. After a few tries the pulley was having the right length. The automotive industry was one of the first to adopt industrial robots for assembly. To make things easier, I was looking for a single model which could fit in the 4 articulations. Give Feedback Terms of Use Thor is an Open Source and printable robotic arm with six degrees of freedom, designed using FreeCAD. thanks! There just isn't enough room for all the wires. 991.29 kB - . The GripServoMount has some extra room for the servo (on the bottom). The upper yellow part can also be mounted on the base without it. 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 AR2 doesn't have nice thick box section for the bicep, so it's more flexible in rotational and torsional loading. There is one big axle. 08/03/2016 at 14:50, sla - If both the left and right small orange gear are rotating in the same direction then Art 6 is going up or down. I have created a list where you can vote and add ideas in a quick and simple way. Here are 5 of the top painting robots specifically designed for professional-grade surface finishing. Below are the main assembly robot configurations: #1 Delta Robots I'm thinking to use mine for automating my 3d printer into a mini manufacturing line. Right click and choose "Save to stl" to make it printable. And if it rotates the screw becomes looser. $2,148 00. Check his channel for more awesome projects! I am going to change the small gears also. 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. The new version can be download here. Thingiverse is a universe of things. I tried to translate it but I didn't be able to understand the translation either hi, i am very much impressed with this project, and want to learn more about it and build one my self, i'm just missing some part of connections of your module to arduino also the arduino setup for the operation of this robot if can provide such info it will be great !! (The extra holes around the bearing are just holes to save some plastic). Zip Archive - 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. Sure I could build a CNC machine for this but it would more cool to have a CNC robot. What about millind PCB boards or large 3D printer? Open the app and touch on empty space. This way it can still be mounted together and the shaft is fixed between two bearings. 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. This is the Thor robot arm with a lot of addons and improvements. The cable is fastened with a tiewrap. This version of the model is downloadable here: http://a360.co/2BDyFyW. It has been 3 years since I released Thor! 11/05/2017 at 11:57, Zip Archive - To make the rotation sensor work the Axle has to be fixed inside the gear. And this is not the only change I am proud to announce. Its been a long time since the last time I wrote a log! Click open in browser en you will see the latest version of the modal and a download button in the upper right corner. Radiated harmonics could cause all sort of issues. The UR robot can be used in most assembly applications. From right to left. The design of the 4th articulation had an issue, I didn't find a commercial bearing adjusted to my needs. Creative Commons Attribution-ShareAlike 4.0 International License. Your doing fantastic work! It is space-saving and can be reprogrammed quickly to be used with different machines. If you open any assembly file you will see how printed parts and other components (bearings, motors, bolts, nuts) are assembled. 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! Have a nice Christmas eve. 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. On the inside there is a small black cover on top of the SD card reader. See you there! You can design an intermediate piece that fit with the interface on one of its sides and with the tool on the other side. The project started in 2015 as a final degree project called Design and impplementation of an Open Source, 3D printed 6DOF robotic arm. To make the experience fit your profile, pick a username and tell us what interests you. The story of Thor losing his arm begins in Marvel's comic event, Original Sin. Thor ControlPCB ControlPCB is the board used in the Thor project to control the stepper motors that drive the robotic arm. 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. Because of the fan holes the ART5 covers didn't fit anymore. You rock! Also, the Art23Optodisk has been redesigned to work properly with the new distances. Select any button and assign the "press char" and "release char" as shown in fig1 and Table2. Grab a screw and place it in the center of the hand servo horn. 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. Then I have 2 parts. 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. and last updated 4 years ago. Assembly robots offer a range of capabilities that can allow it to position, mate, fit, and assemble components or parts for a product. A screw is used to hold the big gear of Axle 6 on top of the small gears. ;). Now its finally printed and its available below. I did my best to gather all existing project documentation in one place. And I made 2 version. 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'm proud to introduce you the new Thor's website. Tip Question Comment Step 3: Intall the Arm this is the step for the arm. A Web Controlled Robot Arm This project was There are a lot of commercial and DIY grippers/vacuum/hooks around the web and for each use something different is needed. 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