'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 5 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?



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?


  Are you sure? yes | no

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

  Are you sure? yes | no

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?

  Are you sure? yes | no

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!

  Are you sure? yes | no

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.

  Are you sure? yes | no

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!

  Are you sure? yes | no

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,


  Are you sure? yes | no

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.

  Are you sure? yes | no

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 :(

  Are you sure? yes | no

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

  Are you sure? yes | no

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.

  Are you sure? yes | no

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?

  Are you sure? yes | no

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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l.larose wrote 12/03/2017 at 20:33 point

Hi all, I find this projet really interesting!

Have you some information for accuracy on V2?


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dannyvandenheuvel wrote 12/12/2017 at 07:30 point

All specs can be found by the original founder AngelLM, visit his page for more info.

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Thalles Machado wrote 11/24/2017 at 12:30 point


I've been wondering if you guys did some kind of instruction guide for this project.
We're are currently having some issues with the grbl and gcode. Normally we send some simple coordinates and the serial monitor returns either error 20 or error 2 (both are related to unavailable commands or irregular values). We even tried sending G0 A0 B0 C0 D0 X0 Y0 Z0, but it returned error 20.
Is this because we are not working with the micro end stop connected to the pcb or is this because another issue?

With best regards,
Thalles Machado

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dannyvandenheuvel wrote 11/26/2017 at 09:00 point

I never used grbl ,angelLM works with these software.You have to ask him. I have a own software to move manually and automatic works with my graphical GUI pc controler software which isn't finnished for public at the moment. sorry for that, I am still working on it.

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amjadalsarhi wrote 04/29/2019 at 12:42 point

Hello Mr.Danny, have you released your pc controller software to public or still not 

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drew wrote 11/22/2017 at 17:30 point

Danny, if you're going to modify the BASE.stl file could you add a bit of sideways adjustment to the screw holes that mount the stepper motor? This would allow for setting the engagement of INNER_GEAR.stl to the drive gear. If you're not reworking the base I'll make the changes myself.

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dannyvandenheuvel wrote 11/26/2017 at 09:03 point

Sorry for the delay, I will make a update soon, if you will change it earlier you can do the modification by yourself and put the step file on your page. I will collect everything together for the new release :-)

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drew wrote 10/13/2017 at 23:04 point

Danny,  Are you interested in a slightly modified ART1BODY_P2? I added a bit of material back onto the side of the part that had been removed to make sliding in the steppers easier. Since you changed the part so the upper stepper can be installed from the top there's no need for clearance below the upper stepper. I feel this makes for a stronger part. I have an stl and Fusion 360 file if you want it although I'm sure you could make the same change quicker.

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dannyvandenheuvel wrote 10/13/2017 at 23:46 point

Hi Drew,

You may post the stl file so I can see what you changed, then I update my part as well.
You can post it to wetransfer at

Thanks for keeping to project alive and kicking :-)

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drew wrote 10/14/2017 at 00:05 point

posted to wetransfer. are the source files from you cad program. I imported the step files into fusion but the timeline doesn't seem to be very useful.

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donskit30 wrote 09/20/2017 at 02:01 point

Any suggestion on where to go to get my control PCB printed and may be settings may be

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dannyvandenheuvel wrote 10/01/2017 at 14:21 point

Electronics came from, it is based around arduino due. step drivers came from

Hope it helps :-)

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Gaëtan wrote 09/15/2017 at 14:12 point


I am looking into building a 6DOF robot, but I am still pretty new to it (bought my 3D printer today). As you seem to be much involved into these 3D printed robots, besides the Thor robot arm you probably already have seen BCN3D's Moveo robotic arm, and its 6DOF remix.(

Is there a reason why you would recommend to build the Thor robot instead of Moveo?

Anyone having some experience with both designs?

  Are you sure? yes | no

dannyvandenheuvel wrote 10/01/2017 at 14:18 point

Hi, sorry for the late reaction, to answer your question, I think both robots are almost equal to each other. The community around Thor will be more alive I think.

  Are you sure? yes | no

Sepio wrote 08/08/2017 at 11:20 point

Hi Danny,

The last few days I have received the Ultratronics Pro board. I made some connectors and a pcb for the level shifter. I also started printing the base. Today I set the correct amperage of the polulu drivers. Wich micro stepper resolution do you use?


I was looking for the firmware for the Utratronics board. On the site there are multiple firmwares for this board. Do I have to install one of these firmwares? I expect there is a lot of custom source code involved.

Where can I find the software (and sources) for the Nextion, the Ultratronics and the arduino inside the arm? I have downloaded al the Files on this site and looked at your github account but I was unable to find it. The only thing I found is This contains the things AngelLM has developed. Is this compatible with the Ultratronics? (Because it has another processor).


In your "Thor+ v2.02 Angle Feedback Sensors Sheet" you talk about potentiometer 5 turn 5KOhm. Do you have a link to this item. I only found a 10 turn 5KOhm potentiometer on eBay.

I also ordered the 10K 10 turn version. Is this also the version you used?


Is it possible for you to share the design files of the BASE.stl. I would like to add a fan to the base. I tried to do this with the .stl file in Fusion 360 but that isn't possible. I converted the .stl to a body but then it becomes to slow because of the many vertexes. 

PS. I am a software developer. In my freetime I did some Arduino development. I don't have much experience controlling the stepper motors but I really want to learn this.

  Are you sure? yes | no

dannyvandenheuvel wrote 08/13/2017 at 19:57 point

Hi Sepio,

For the ultraboard I didn't any firmware upgrade, it's the original V1.0
The software controler for all steppers and nextion hmi panel and the bluetooth dongle with usb host spi interface I wrote them all by myself.
Because I didn't had the time so far it's not uploaded yet, but if you wish I could do it the next comming days togetter with all step files. I have to bundle everything togetter and it takes me some time. Step files can be imported in almost every 3D program. If you want I could do the work to put the fan into the base, It's no big deal for me, I'll do it in no time :-) . Nobody ask it from me, that's why it had no priority.
The potentiometer for the base has been changed to 10K 10 turns and is working well. You can use a 10K 5 turns for the 4th joint. The reason for the 5 turns or less , the 4th joint do everything within 1 turn, the base needs 5 turns from the stepper motor to do the 360°. By doing this the analog resolution will still be fine.
The potentiometers came from 'conrad'.
For best results working with all stepper motors togetter will be 8 microsteps.

Be carefull that you power the nextion display with 5V, I destroyed one by putting it on the 24V, it was very stupid but I did it :( , and don't forget your logic shifter between nextion and ultraboard serial connection, it can handle only 3V3!

You could use a small stepdown pcb for the 5V that you can extract from your main 24V power supply.

Your nextion serial connection between the serial port on the ultraboard needs to be shielded! That solved all my communication problem I had in the past.

I used the display with my combined power supply and took the 5V from there, it works with the intern 5V but the power divider was getting to hot.

If you don't won't to mess up your wires I advice you to use a slipring, every wire can handle 2Amps, because the base motor don't have to go through the slipring it will be strong enough. I haven't any problems till now. You gone have an arduino mini inside the side cover of art.2 to attach all feedback pots, the gripper and neopixel ledring.

I try to do my best to keep my promises to you the next comming days, don't shoot me if I couldn't do it within this time :=)

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Sepio wrote 08/14/2017 at 07:42 point

Thank you for the al the information. I have ordered the slipring a week ago. I already used one in a wind turbine project.

I would appreciate it if you could upload the steps files and software.

And if you could add a fan and ventilation holes to the base it would be nice also. AngelLM’s base version is an nice example. It uses a 40mm fan.

  Are you sure? yes | no

Olaf Baeyens wrote 08/13/2017 at 20:59 point


for the Nextion I created a step example how to use it on the Ultratronics v1.0 board.  The Ultratronics  v1.0 board is basically an Arduino Due. Which have give me some headaches since this It is a bit different than an Arduino Uno or Mega.

Connecting the Nextion display I also provided some steps.

The Nextion display needs a lot of current the Arduino board could not deliver in my case. If you connect it and it flashes and then reboots, it means not enough current. I know resolved it by adding a Buck converter that converts the 24V to 5V. The blog post was before I had this Step down bucks converter.

Here I posted a how to use the Ultratronics v1.0 in the Arduino editor

This blog post I mapped the Ultratronics board pins to the Polu drivers. This is an Arduino Due so the code that you normally find on the Internet is for the Arduino Uno/mega and does not work for this Due.

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Sepio wrote 08/14/2017 at 07:50 point

Thank you for all the info. I’m going to study it. FYI I started a buildlog.

  Are you sure? yes | no

Olaf Baeyens wrote 08/14/2017 at 23:19 point

The stepper resolution is interesting. More steps means less noisy gear but also slower moving parts. When you enable the motor then it jumps to its nearest full step. This effect is tiny but it means that you have a small error.

The maximum speed of the motor depends on the number of steps per second you can produce. And you have to realize that the Polu driver needs a minimal pulse down (1.9 µs)  and up (1.9 µs) time so 3.8µs per step.

This seems fast but don't forget that you also have a big gear that drives the base. So you may want to deduce the number of micro-steps depending on the speed you want the parts to move. It may be different for different parts. This is where the fun goes, discovering what the best settings are :-)

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