'Thor' robot with addons and GUI

Thor robot based on the author AngelLM

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THOR robotic arm with some extra's :) based from the original design of AngelLM, thanks mate for this nice piece of work!
Trying to do something more... follow me to see the addon's and lots of improvements.

This project is based on the THOR robotic arm project from AngelLM and will be a version with lots of add-ons and especially modified for a wide range of 3D printers with a smaller print area.
Also it is my intention to improve a lot of things to the robot his hardware and software.

I am working on a graphical controller that works on PC,MAC and later on mobile devices.
You will have the possiblity to make al the movements on the controller without the need of the robot.
Ones everything is working on the GUI controller it can be transfered to the robot arduino controller
board, with the press of a button and some digital inputs you can run the sequences you programmed in the GUI controller.
There will be a hand controller to move the robot manually and store the points, afterwards you can send these points to the graphical controller. It will be bi-directional programming.
In a further stage the axis will be recorded into the controler so movements can be simulated be moving the robot by hand and can be replayed afterwards.
It's a lot but this will be my challange in the next comming days...months :-)

Any feedback is welcome!

I will send my regards to AngelLM for the original nice designed robot called 'THOR' , without him I could not started this SUPER project!

Everything stays open source, like everything should be...One for All, All for One
All software programs to build the robot are free to download


Upgrade STL parts from V2.03 to V2.04 Overall stability feedback add-ons, extra fans added and design improvements.

RAR Archive - 3.17 MB - 09/24/2017 at 08:27



Step design Thor+ V2.04

RAR Archive - 10.31 MB - 09/24/2017 at 08:26



Base with fan and vertical hols Thor+ V2.03

RAR Archive - 292.74 kB - 09/02/2017 at 00:05



Step design file Thor+ V2.03

RAR Archive - 10.26 MB - 08/29/2017 at 05:48


THOR+ V2.02 All STL Files Feedback sensors add-on

Zip Archive - 40.59 MB - 08/05/2017 at 20:39


View all 22 files

  • 1 × 3D printer to print the parts UPrint SE plus Stratasys
  • 1 × GUI software controller Unity personal
  • 1 × Ultratronics V1.0 Pro main board The main controller for the robot
  • 1 × Arduino mini board The controller inside the robot Art2 to control IO/Gripper/Leds/Feedback sensors, etc...
  • 1 × Programming software arduino arduino plugin + visual studio community 2015

View all 6 components


    dannyvandenheuvel09/23/2017 at 20:27 7 comments

    Upgrade Thor+ V2.04 ... Feedback stability improvements, Added extra fans and changed some design. (By Sepio & Danny)

    All STL and STEP files online!


    dannyvandenheuvel08/15/2017 at 13:28 6 comments

    Add some cooling ribs in the base and added fan 40x40x10 inside


    dannyvandenheuvel08/05/2017 at 21:07 11 comments

    Finally! It's here, Thor+ V2.02 with integrated feedback sensors :-)

    STL files all online.
    For users how have printed V2.01 all files marked with a leading underscore are new or changed in V2.02.

    Happy printing!
    Thor+ V2.02 is based from the original idea & design of AngelLM

    The difficult part in assembling the robot parts will be the feedback sensor joints, be carefully how they have to rotate around there axis. I will make a manual later on. All the rest is very clear the same as AngelLM his version.

  • Robo GUI controler 'Progress status 07-2017'

    dannyvandenheuvel07/07/2017 at 21:18 3 comments

    I wasn't prepared enough, so sorry for my bad english :-( , I hope you understand it a little bit, anyway it's funny...


    dannyvandenheuvel04/30/2017 at 12:54 3 comments

    Now loading and saving opportunities. Playing has been more fun now because we can save and load! Yeahhh.

    Now you can play with it! Next will be save and load senarios and connection with real robot arm through ethernet. Try to upload new version in a couple of days :)

    Some progress Thor robot arm embedded, almost running inverse kinematics routine :)

    At this moment I build a recorder into the Thor robot gui controller, following will be save and load recorded movements. Then TCP socket to communicate with the real robot arm! will be continued :) I used a other model to test the routine, it's temporary :). Thanks to Luca Filippini for helping me with the Inverse kinematics scripting!


    dannyvandenheuvel04/08/2017 at 14:44 6 comments

    Thor+ Feedback sensors for Art2 and Art3
    All feedback sensors, gripper servo and neo pixel ledring will be controlled by build-in arduino nano
    serial connected to the main controller board.

    Sheet all feedback sensors integrated into Thor+
    4 x Makeblock Angular sensor V1.0
    1 x 10 turns potentiometer 5Kohm (burns)
    1 x 5 turns potentiometer 5Kohm (burns)

    1 x Arduino Nano controller


    dannyvandenheuvel03/30/2017 at 12:51 1 comment

    Good news! All stl parts online V2.0
    Start printing : - )


    dannyvandenheuvel02/19/2017 at 14:47 1 comment

    Finally get my slipring from ebay! It's going to connect my 6 stepper motors and arduino mini.
    I didn't like the many wires hanging around.

    Making room in the base, I have a motor with position sensor and feedback potentiometer wired, now it's time to add the slipring to it : -)

    Build my slipring into a ring that can be attached on the turning base.

    Attached pcb and connectors on it

    6 steppers and 0V,5V,TX,RX for my arduino mini connectors, just to add all connectors in the controller box, very secure work adding all these small pins.

    My helping tool :-)

    Finnished! every wire has his connection, hoooraaayyy.

    No wire to find! That's what I wanted!

    Up to the next part, see ya!


    dannyvandenheuvel02/11/2017 at 16:49 2 comments

    I made a complete electronic sheet of my THOR+ robotic arm
    Components used:
    1x Main controller board Ultratronics Pro V1.0 based on arduino due
    6x Polulu stepper driver 8825 cooled max 2A - 24V
    1x Logic shifter 3V3 <> 5V 8 channels
    1x USB Host PCB with flashed software PS4 controller to TTL serial connection
    1x Bluetooth dongle 4.0
    1x Slipring 24 wires max.2A for each wire
    1x Arduino Nano
    1x Neo pixel ring (gripper)
    1x Servo motor (gripper)
    1x Stepper motor (base) 17HS16-2004S1 (2A) 24V
    3x Stepper motor geared 17HS13-0404S-PG5 (400mA) 24V
    3x Stepper motor 17HS13-0404S (400mA) 24V
    2x Fan 24V 40x40x10mm

    It becomes time to assemble it! So next week I'll try to put it all togetter.
    In the meanwhile I'm gone put all drawings and stl files online this weekend.
    And after all these works I finnaly can program back on my GUI controller software :-)
    In the next comming weeks I will have a real moving robotic arm, Yeah...


    Drawing has been changed, I had problems to connect to the mini arduino so had to change the communication to a real serial port. I did move my usb host to I2C.

    The base potentiometer has been moved to another analog point, don't need the extra zero potentiometer anymore.

    Removed the stepdown pcb and feed arduino mini directly with 5V and used a fan at 5V.

    Don't use de extra zero potentiometers at the other axis on arduino mini anymore.


    1x Fan 24V 40x40x10mm
    1x Fan 5V 40x40x10mm
    1x Potentiometer 10 Turns 10Kohm
    1x Opto board (init base)

    5x Makeblock angular sensor V1

    Did some testing to use the SDA SCL at the right side on the unitronics board, a little bit tricky but it works now for 100%.
    Needed pullup resistors 1.5Kohm between SDA,SLC lines to VCC. Edit the 'ps4_i2c.h' source and changed all the words 'Wire' into 'Wire1'. Added Wire1.begin() in setup function.
    Now everything is working like I wanted it! Got a spare serial port for connection on my arduino nano.
    Don't forget to attach the usb host module on TTL/USB module and set 'SERIAL OFF' to avoid latency problems. Read the documentation very carefully from the vendor.


    dannyvandenheuvel02/04/2017 at 19:00 11 comments

    For all those wanted a seperate controller box, there's room enough for the ultratronics pro V1.0 board, if you want a empty holes box, just ask!

    If you want some dimensions, no problem :-)

    Hope you like it! (for some personal modifications just sent me a comment!)

View all 36 project logs

  • 1
    Step 1

    Everything has been printer with stratasys Uprint SE, because some pieces where to big I changed some 3D parts, you can find them on my Github page if you have the same problem. I made them to be as strong as the originals. Feel free to ask me if you get in trouble printing it. :)

  • 2
    Step 2

    All parts has been printed, in a couple of days I will assemble THOR and make a movie and instruction list of the build!

  • 3
    Step 3

    I'am working on a graphical controle with Unity, more will be updated in the coming weeks!

View all 4 instructions

Enjoy this project?



Ryanb100 wrote 04/23/2022 at 09:03 point

hi guys

 just starting to build Thor, i was wonbdering what recommendations people have for the controller board. the Ultratronics seems to be no longer manufactured.

Would a general purpose controller like a Geeetech GTR do the trick?


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goodcat432157 wrote 10/12/2022 at 18:13 point

Me 2 😃 i think a normal 3dcprinter Board works to ?

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marioschmid17 wrote 02/07/2022 at 16:15 point

Hi Danny, 

I'm planning to make a "Thor" too and I'm going to use your improved version. I have two questions.

-Where can I find your updated RoboGUI?

-Is there an alternative to the Ultratronics Pro v1.0 Board? The board is no longer manufactured. Is it possible to use the "Original Board" designed by Angel (Thor ControlPCB - Share Project - PCBWay) together with the feedback sensors?

Thank you for your help and for sharing this great project with us!

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Justin wrote 02/14/2021 at 06:04 point

I'm currently planning my own build of this and am wondering where your code is? I wasn't able to find it here or on your GitHub. If I'm missing it can someone point it out to me otherwise would you please post it?

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victor wrote 05/11/2020 at 05:28 point

Hi Danny

I'm looking at ART1BODY_01_PART1.stl and ART1BODY_01_PART2stl and they don't fit could you update those stl's? 

Thank you.

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Eng. Nadhmi M. Al-Mulaiki wrote 08/06/2019 at 21:47 point

hi master Danny 

did you program Thor with Ultratronics Pro v1 ?

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Bassamalghram wrote 08/05/2019 at 22:05 point

Great work .   Does any one write or configure the firmware sketch of the Ultratronics pro board and the nano Arduino? if not I may start configure the Marlin firmware to work with the Ultratronics board and we can send the values of the angles of the joints as G-code by the serial port.

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pkmcnc wrote 06/12/2019 at 17:06 point

Hi Danny!

Great work! Waiting for the updates on your latest robot.

Can you point me to the STL of a gear used in your gripper for the servo? doesn't seem to contain it.



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Brehier wrote 04/03/2019 at 02:25 point

Dear Danny,

First I would like to thank you for your work. You, Angel and Sapio did a really interesting arm.

I am currently trying to build it and I also saw a few things I would like to slightly modify. It would be nice if you could upload the Freecad files so I can access the sketches.

Thanks in advance for your help!


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Zboy1997 wrote 02/17/2019 at 13:26 point


This project is really wonderful, and I am deeply attracted by it. As a college student, I want to design a 3D printing mechanical arm like this by myself, but I don't know how to start, so I would like to ask you what analytical design software is used in the design of this mechanical arm.What knowledge base does the design require?Is there any reference to the learning books recommended?I would appreciate it if you could give me some hints.This project is really wonderful, and I am deeply attracted by it. As a college student, I want to design a 3D printing mechanical arm like this by myself, but I don't know how to start, so I would like to ask you what analytical design software is used in the design of this mechanical arm.What knowledge base does the design require?Is there any reference to the learning books recommended?I would appreciate it if you could give me some hints.


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henryk167 wrote 01/19/2019 at 18:06 point


I have printed the files and would like to go to run.

Can you briefly tell me to do the move the robot.

Where can i find the necessary software that you provide?


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Bassamalghram wrote 08/05/2019 at 23:27 point

I have the same question

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Drake Drakan wrote 11/12/2018 at 23:31 point


Some Rar files are corrupt and I have several error reports.
I managed to download STL_V2.04 files but I need a guide for assembling your improved parts. There are some things I do not understand how to mount like the small conical gear bars on the art56
Do you have a guide or a video?

Thank you

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dannyvandenheuvel wrote 11/13/2018 at 01:20 point

Hi Drake,

Sepio has build this version and has a good description how to build it up. At the moment I have less time, I will try to add some docs asap. I will check the rar files.

Hope it helps for the moment

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KenwoodFox wrote 11/09/2018 at 12:42 point

Any specs on the reduction drives for the top of the 1st articulation?

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Taras Vakulich wrote 09/30/2018 at 13:11 point

Hi! I'm new to this project so excuse me if I ask any silly questions ;) All files looks bit messy to me so I appreciate if you suggest a full list of required files (latest 2.04 version) to download. For the electronic components everything is clear but can I use MKS gen L 1.0 board instead? Thank you!

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dannyvandenheuvel wrote 10/06/2018 at 06:54 point

Hi Taras,
You need at least 6 stepper drivers, so MKS gen board isn't good enough. All STL files has to be print, only a few very small parts you need two of them. I know there isn't a real BOM list at the moment, will try to make some if I got a little spare time.

You can follow sepio's page, his build is based on my version at it has good instructions.
See Ya!

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Taras Vakulich wrote 10/06/2018 at 07:12 point

Thank you for the reply, yes I did find Sepio's project and following it. Yes, my MKS board has only 5 ports for stepper drivers. But can I also add an additional driver connected to MKS? Such as ramps, just to extend the existing board. If that works, does it require any changes to the firmware?

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Peter Myrie wrote 07/16/2018 at 18:41 point


I am building this arm, are you going to share your files? i.e Nextion files, arduino Nano sketch.

i have all the parts and need help with the files.

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dannyvandenheuvel wrote 07/21/2018 at 07:33 point

Hi Peter,

Sorry for the late reaction, I'm running out of space at the moment. Lots of working hours on a big project. Will try to get all sources online asap.

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Manuel Wong Ho wrote 08/20/2018 at 14:00 point

Hi Peter, excellent work! would you be able to share the source code for the software to further customise for our application? thank you!

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Adi Singh wrote 07/05/2018 at 06:10 point

Hey Danny - marvelous work! Impressed by your engineering prowess. I'm looking through the project but can't find the software for controlling the steppers, displaying the nexion stuff, etc that goes on ultratronics and the arduino nano. Can you share those as well? Cheers!

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dannyvandenheuvel wrote 07/21/2018 at 07:36 point

Hi Adi,

For the moment I haven't spend any time on my hobby, I'm working on a big project but from the moment I have any spare time I will put everything online.

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Klin wrote 04/03/2018 at 12:09 point

Hi,could you tell me the Arduino how to use  in Niryo ,it help Rispberry Pi how to help?

I  wait you respond.

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Towi wrote 03/27/2018 at 19:37 point

Hi. I have printed all parts. Are there somewhere instructions on how to put everything together? Thank you

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dannyvandenheuvel wrote 03/27/2018 at 19:45 point

Hi Towi,
Sepio has build it to with a lot of pictures, take a look at his page

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Naturobotic wrote 02/18/2018 at 12:50 point

Hi Danny,

Recently joined the crew, and building the arm.
I find your work amazing, since using linux I'll test out your linux GUI.

I'll make a detailed log, and upload it here.

Is there a link to your ultratronic firmware, I keep missing it somehow...


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dannyvandenheuvel wrote 02/19/2018 at 12:29 point

Hello Naturobotic,

Card docs can be found at

best regards,


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Naturobotic wrote 02/21/2018 at 11:06 point

Hi Danny,
What I meant was if you'd mind sharing your firmware, so I can move the hand around while I'm playing with ROS, which can take some time.

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dannyvandenheuvel wrote 02/21/2018 at 21:15 point

I will put it online when I have a little more time these comming days.

bussiness is taking all my free time for the moment :(

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Manuel wrote 02/12/2018 at 19:57 point

Hi, several days ago I opened an issue in Thor's github about dividing the big bodies. AngelLM and you sent me to this project. I've succesfully printed the Art1 body, but I can't find the Art3 one.

Does anyone have the Art3 already parted?

EDIT: nevermind, I didn't see the Google Groups link. There I found your github

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dannyvandenheuvel wrote 02/19/2018 at 12:27 point

Hi Manuel,

You can find all stl files on my hackaday page. 

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drew wrote 12/10/2017 at 05:29 point

Danny, any idea when you might be doing a release with Sepio's changes and your position encoders?

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dannyvandenheuvel wrote 12/11/2017 at 20:51 point

Hi Drew, try to do this before the end of the year.

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drew wrote 12/11/2017 at 23:34 point

Thanks, I really appreciate all you've done / are doing for this project.  I getting to the point of working on Art[456] and would like to incorporate Sepio's changes. Do you think you're going to be making changes to the STLs that Sepio posted?

  Are you sure? yes | no

dannyvandenheuvel wrote 12/12/2017 at 00:00 point

No, I'm going to implement it to my cad source just like he changed it and put the stl's back online with a new version. The nice thing about Sepio, he has built and tested it allready, gives a good feedback with a lot of documentation, that's were I have been failed :-)

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drew wrote 12/12/2017 at 01:42 point

Do you still have plans of replacing the multi turn pots with some sort of encoder?

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dannyvandenheuvel wrote 12/12/2017 at 07:28 point

I think Sepio did this already?  

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drew wrote 12/13/2017 at 00:28 point

Sorry, I didn't see his latest log. Looks like it's time to start printing!

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