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'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

STL_V2.01.zip

THOR+ V2.01 All STL Files Small modification on Art3Top Connection between two parts has been improved.

x-zip-compressed - 30.48 MB - 04/03/2017 at 11:20

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STL_V2.0.zip

THOR+ V2.0 All STL files

x-zip-compressed - 29.58 MB - 03/30/2017 at 12:52

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STANDING_CONNECTOR_BOX.zip

If you want a seperated box for your controller,This is it!

x-zip-compressed - 1.34 MB - 02/04/2017 at 21:39

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THOR_ART2_V1.0.zip

Thor+ 'Art2' V1.0

x-zip - 8.72 MB - 01/22/2017 at 13:23

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THOR_CONNECTOR_BOX_V1.0.zip

Thor+ 'connector box' V1.0

x-zip - 914.54 kB - 01/22/2017 at 12:19

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THOR_CONTROLLER_BOX_V1.0.zip

Thor+ 'controller box' V1.0

x-zip - 1.52 MB - 01/22/2017 at 12:19

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THOR_BASE_V1.0.zip

Thor+ 'base pack' V1.0

x-zip - 9.28 MB - 01/21/2017 at 20:01

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COVERS.zip

Covers Feedback sensors Art 2 & Art 4. Can be added on already printed parts! Now you can add feedback sensors to your Thor robot and cover them up with these parts!

x-zip - 849.72 kB - 01/21/2017 at 15:49

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ART1BODY_01_3PARTED.zip

Split into 3 parts, Added fan and ventilation groves to cooldown te 3 stepper motors. Middle stepper motor can be added from above making the structure stronger. Roof can be removed.

x-zip - 848.56 kB - 01/18/2017 at 12:19

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ART1BODY_01_W_FAN.stl

Added fan in ART1BODY to cooldown the 3 stepper motors. This is a older version and be replaced by art1body_01_3parted.

sla - 2.53 MB - 01/16/2017 at 22:05

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View all 17 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
  • 1 × CAD software Freecad

  • UPCOMMING THOR+ V2.02 WILL HAVE ABSOLUTE FEEDBACK SENSORS ON ALL AXIS

    dannyvandenheuvel04/08/2017 at 14:44 3 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+
    Sensors:
    4 x Makeblock Angular sensor V1.0
    1 x 10 turns potentiometer 5Kohm (burns)
    1 x 5 turns potentiometer 5Kohm (burns)

    Controller:
    1 x Arduino Nano controller

  • THOR+ V2.0 ALL STL PARTS ONLINE!!!

    dannyvandenheuvel03/30/2017 at 12:51 1 comment

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

  • 'ADDING SLIPRING TO THOR+'

    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!

  • 'ELECTRONIC SHEET THOR+'

    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...

    UPDATE!!!

    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.

    UPDATE LIST

    1x Fan 24V 40x40x10mm
    1x Fan 5V 40x40x10mm
    1x Potentiometer 10 Turns 10Kohm
    1x Opto board (init base) https://reprapworld.com/products/electronics/endstops/opto_endstop/

    5x Makeblock angular sensor V1 http://www.makeblock.com/me-angular-sensor

    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.

  • 'STANDING CONTROLLER BOX FOR THOR ROBOT ARM'

    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!)

  • ART1TOP MODIFICATION

    dannyvandenheuvel01/24/2017 at 16:34 1 comment

    To fit the roof of the 3 parted art1top part you have to cute a piece away from the left and right side, I will change it in the drawings so you don't have to wurry of it anymore. For those who have printed it already this is the solutions.

    By making the gape it will fit perfectly.

    Also a little drill out for the ventilation screws (I have to make them a little bit bigger.

    Now it's perfect :-)

  • THOR+ V1.0 ASSEMBLY

    dannyvandenheuvel01/21/2017 at 19:59 5 comments

    Thor+ 3D printing pack Version 1.0

    BASE (Original AngelLM)

    BASE ADDON's (Danny VdH)

    All parts can be downloaded from page 'Thor_base_v1.0.zip'

    ADDON's

    Feedback potentiometer
    Endstop sensor pcb reprapworld
    Plugin 'connector box' or 'controller box'

    CONTROLLER BOX (Original Danny VdH)

    All parts can be downloaded from page 'Thor_controller_box_v1.0.zip'

    For housing the ultratronics V1.0 board

    CONNECTOR BOX (Original Danny VdH)

    All parts can be downloaded from page 'Thor_connector_box_v1.0.zip'
    If you want to take the controller outside of the robot

    ART2 (Original AngelLM)

    ART2 MODS & ADDON's (Danny VdH)

    All parts can be downloaded from page 'Thor_art2_v1.0.zip'

    MOD's

    Art1Body split into 3 parts
    Art1Top slit into 3 parts

    ADDON's

    Art1Body added cooling fan
    Art1Top added slip ring and pcb connector board

  • 3D COVER FEEDBACK SENSOR PARTS

    dannyvandenheuvel01/21/2017 at 15:43 0 comments

    3D Cover parts feedback sensors finished, can be downloaded at the project page.
    Can be added on already printed parts!

  • FEEDBACK SENSORS 'FIRST DESIGN'

    dannyvandenheuvel01/21/2017 at 00:02 2 comments

    it I'm trying to add thor with feedback sensor technics, I want to keep the printed parts so far, so I made some addon pieces.
    It's just a design at the moment, tell me what you think of it?

    I have used so allready existing parts, the feedback pcb comes from makeblock. (Angular sensor v1.0) 360 degrees endless potentiometer.

    I made a first design

    Added 4 sensors for, two for the tools head , one for the shoulder and one for the elbow.
    The base and rotating wrist will have other sensors, working on it.

    And this will be the covers on the robot.

    I am going the use a mini arduino to connect all sensors to the anolog inputs, and going to add the gripper servo and neopixel light also at it. So just 4 wires will be needed to go to the main board.
    Like I said, It will be addons to the already designed thor robot. No need to reprint it. Just some small holes to drill to put every part on it.

  • COMPLEX PART ART1BODY SIMPLYFIED

    dannyvandenheuvel01/18/2017 at 00:31 8 comments

    They asked me to split this piece, I have gone a little bit further, made 3 pieces of it with a roof that can be opened, you can bring the middle motor into it on the orther way, the structure has been a lot stronger that way.The two other parts can be screwed togetter and be glued. I think it will reduce a lot of time printing it and little structures to use.
    Also a fan has been forseen and the roof has some ventilation holes.

    Hope you like it!

View all 31 project logs

  • 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

    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

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

View all 4 instructions

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Discussions

kfriesth wrote 04/22/2017 at 21:41 point

For your coding and control have a look at what our group is doing. 

https://github.com/ros2/ros2/wiki
http://wiki.ros.org/rviz
http://wiki.ros.org/gazebo

  Are you sure? yes | no

dannyvandenheuvel wrote 04/11/2017 at 13:17 point

People are asking me a lot of questions how to build my version of Thor and the electronic parts.

For the moment there are 2 versions I have made upon the original Thor robot from AngelLM.

Version V2.01 has all the 3D printed parts without angle feedback sensors buildin.

Version V2.02 has all the 3D printed parts with angle feedback sensors buildin, these files are not ready online. I'm testing this pieces and at the end of this week they will be public.

The software has a total makeover and I try to finishing it in the next comming weeks.

The basic software can move the robot manualy into all directions with or without a PS3/PS4 controller. It's open source so you can decide to make your own controller or the one I have developed. This project hasn't finished yet, it's still in development! but you can start printing if you wish, if you want angle feedback, just wait for a few days when version V2.02 has been uploaded to my page. You can find all the electronic parts at one of my pages, look for electronic sheet! . There's also a video in the making how to assemble everything and how to build the electronics.

Building the robot is near the same as the original from AngelLM, except a few modified pieces.
If you want angle feedback and did not started printing V2.01 wait until V2.02 has been uploaded, for the people that have printed V2.01 you will see that in version V2.02 some parts have to be re-printed again, sorry for that but like a said, it is still in development.
Version V2.02 will be having all the electronics that I wanted so far, electronics software will be arriving very soon to the public.

  Are you sure? yes | no

dannyvandenheuvel wrote 04/02/2017 at 19:22 point

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.

  Are you sure? yes | no

Wilmer wrote 04/02/2017 at 06:35 point

Hello Danny again, I am sorry, but now I am seeing a new part for me: ART1TOP_RING. 

I have not seen it in your pictures. Did I skip someone? or just in case,  Could you tell me where is it located?. Thanks 

  Are you sure? yes | no

dannyvandenheuvel wrote 04/02/2017 at 10:03 point

Hi Wilmer,
This is one of the new addons , look at https://hackaday.io/project/16665-thor-robot-with-addons-and-gui/log/53541-adding-slipring-to-thor and you will see that it's needed when you want to place a slipring.

  Are you sure? yes | no

M3adrock wrote 03/31/2017 at 17:23 point

Thank you very much. I just have to print the clip and wait for the electronics I'm impatient to see how it moves. The truth that is a very good project with the latest contributions is impressive jejeje. Thanks to the promoters invest all the time

  Are you sure? yes | no

Wilmer wrote 03/31/2017 at 13:40 point

Hello Danny, I have printed the first parts of arm, now I am printing the Art1Body P2 and P3, but i have a question here, How do you fasten the Art1BodyP2 to Art1BodyP3?, There is no holes or cutouts on the brackets of Art1BodyP2. Thanks for updating the STL files...

  Are you sure? yes | no

dannyvandenheuvel wrote 03/31/2017 at 13:55 point

Hi Wilmer,

Art1Body was a hard piece to print in one run, that's the reason I splited it into 3 parts, Part 3 is the roof and it will be attached on Part 2 with self-tapping screws. It's also a better solution bringing in the 3th motor from above.

  Are you sure? yes | no

Wilmer wrote 03/31/2017 at 15:36 point

Ohhh I see. This was a clever solution. So many thanks for your quick answer. What do you think about uploading the freecad-src?

  Are you sure? yes | no

dannyvandenheuvel wrote 03/31/2017 at 19:29 point

I will be uploading the compleet source in the next comming weeks, The main reason, I don't work in freecad, I exported the origenal files from AngelM to step files and imported it into Spaceclaim, this is what I use in my bussiness days, It will be ported back to freecad so that it will become the sources back into freecad. Spaceclaim can be downloaded as Designspark Mecanical, the free version of this powerfull software package.  Take a look at it! Try it yourself. I will put the source files of spaceclaim also on my page.
https://www.rs-online.com/designspark/mechanical-software

  Are you sure? yes | no

Wilmer wrote 04/01/2017 at 10:57 point

Thanks, now I understand. Is good from you to share your files. I will to see Design Mechanical, good advise. Thanks for your time... 

  Are you sure? yes | no

M3adrock wrote 03/25/2017 at 18:52 point

Thanks for the project to Angel and you, I am currently building I do not have problems of impression or assembly but I do not understand of programming my question is publish the programming for the movement? thanks greetings

  Are you sure? yes | no

dannyvandenheuvel wrote 03/31/2017 at 13:57 point

All source to make movements will be on line in the next comming days, I'm still working on it to improve the software.

  Are you sure? yes | no

Towi wrote 03/13/2017 at 12:14 point

Hi Danny.

First let me thank YOU and AngleLM for all your hard work. Looks pretty amazing.

AngelLM's original Thor is suppose to cost about 350 Euros. With all your add-ons do you know what the improved Thor cost?

I haven't looked through all posts and stuff but do you have all files listed to make this robot or do I have to look through yours and AngelLM's files?

Thanks a lot.

  Are you sure? yes | no

dannyvandenheuvel wrote 03/24/2017 at 19:58 point

Hi, sorry for the late response. Had a few hard bussiness weeks, you can build the whole robot with add-ons. I didn't put all the files online but will do it this weekend.

  Are you sure? yes | no

Towi wrote 03/27/2017 at 20:29 point

Would be great. I think I have everything printed that is offered (except the boxes. Not sure yet which...

  Are you sure? yes | no

Towi wrote 04/04/2017 at 11:50 point

Hey Danny.

It looks like all STL files are uploaded now.

Is this correct?

  Are you sure? yes | no

dannyvandenheuvel wrote 04/04/2017 at 15:03 point

Every 3D STL part of the robot arm has been online, take V2.01 if your starting it from the beginning. You can make a choice what kind of controller you want to use, you've got a controller box or a connector box when you are planning to build your controller outside of the robot. I've made a seperate controller box for the one that will make a seperate electronic controller.
I'm just working on the feedback sensors, this will be in the next release be added, I'll try to build it as a addon upon the allready made 3D parts.

  Are you sure? yes | no

dannyvandenheuvel wrote 03/27/2017 at 22:34 point

Try to put every file on line this week from the moment I have a little bit of spare time, sorry for delay.

  Are you sure? yes | no

dehmel-martin wrote 03/30/2017 at 10:20 point

I also don't quite understand which files to choose additionally from AngelLM. Would be very nice if you could put up all STL files you need here on the project page. :-)

  Are you sure? yes | no

dannyvandenheuvel wrote 03/30/2017 at 12:54 point

THOR+ V2.0 All files online!!!

  Are you sure? yes | no

dehmel-martin wrote 03/31/2017 at 09:59 point

Thank you, helps me out a huge amount!

  Are you sure? yes | no

SypherAK wrote 03/10/2017 at 21:51 point

Hi Danny, I'm playing around with the Linux-compiled GUI, and it's pretty good so far. One thing I would add in though for us that dislike sliders and want faster accuracy, would be to allow typing in the degrees for each axis instead on sliding a slider bar around. 

Keep up the great work!

  Are you sure? yes | no

dannyvandenheuvel wrote 03/24/2017 at 19:59 point

Thanks, will put it on todo list :-)

  Are you sure? yes | no

dehmel-martin wrote 03/08/2017 at 10:59 point

Hi Danny, I also want to build the Thor+ robot arm. I wanted to buy the steppers from ebay, but apparently the voltage in the product specifications differs from those given in your list. Could you check if these three products are the correct ones? Kind regards from Germany and Thanks in advance :-)

- 1x Stepper motor (base) 17HS16-2004S1 (2A) 24V:
http://www.ebay.de/itm/45Ncm-Nema-17-Schrittmotore-1m-Cable-Stepper-Motor-3D-Pinter-Reprap-Makerbot-/262199126585?hash=item3d0c492a39:g:It4AAOSwYaFWdPtI
- 3x Stepper motor geared 17HS13-0404S-PG5 (400mA) 24V:
http://www.ebay.de/itm/Planetary-Gearbox-5-1-Nema-17-Stepper-Motor-0-4A-for-DIY-CNC-Robot-3D-Printer-/262040909541?hash=item3d02daf6e5:g:A90AAOSwgNRV7pAg
- 3x Stepper motor 17HS13-0404S (400mA) 24V:
http://www.ebay.de/itm/Schrittmotor-Nema-17-26Ncm-37oz-in-Stepper-Motor-12V-0-4A-3D-Pinter-CNC-Robot-/262038536473?hash=item3d02b6c119:g:GUsAAOSwqv9V7TPh

  Are you sure? yes | no

dannyvandenheuvel wrote 03/08/2017 at 13:34 point

Hello Martin,

The motors needed to be working at 12-24V (there are a lot of motors with different power solutions, if you order from somewhere else keep in mind to get the right power connection supply!)
I've ordered mine from stepperonline. Good service, good quality! Be aware of import costs involved by ordering out of the europian union. I had to pay a extra 17% at the total amount to dhl.

http://eu.stepperonline.com/3d-printer-nema-17-stepper-motor-2a-45ncm64ozin-17hs162004s1-p-16.html

http://eu.stepperonline.com/gear-ratio-51-planetary-gearbox-with-nema-17-stepper-motor-17hs130404spg5-p-140.html

http://eu.stepperonline.com/nema-17-stepper-motor-34mm-12v-04a-26ncm37ozin-17hs130404s-p-166.html

All specs can be found at these links.

Greetings..

  Are you sure? yes | no

Olaf Baeyens wrote 03/08/2017 at 20:29 point

I did not get import cost, but maybe because watched out where the stock is coming from Germany.  e.g. '177 IN STOCK Location: Bruchsal Germany" 

  Are you sure? yes | no

dehmel-martin wrote 03/09/2017 at 20:11 point

Okay, thanks!
The Opto PCB and the Potentiometer don't appear in the list of components, but in the base data sheet. I guess they should be added?

  Are you sure? yes | no

dannyvandenheuvel wrote 03/09/2017 at 21:09 point

You can choose if you wanted to have a init sensor or potmeter or both.
I have both in my robot.
The opto sensor you will find at https://reprapworld.com/products/electronics/endstops/opto_endstop/
The potentiometer I used has 10 turns 10Kohm linear (see specs)
http://www.conrad.com/ce/en/product/429309/Precision-potentiometer-10-pos-Mono-2-W-10-k-Vishay-1-pcs?queryFromSuggest=true

I will update as soon as everything has been finished, I hope by the end of the week.
Just tweaking some last points at the drawings.

  Are you sure? yes | no

dannyvandenheuvel wrote 03/09/2017 at 22:08 point

Updated the electronic sheet and list

  Are you sure? yes | no

Luz Enith Martinez wrote 02/21/2017 at 13:14 point

Hi Danny!! Thank you very much for this greats instructions. I started building the robot arm and I was having some problems with the assembly and the electronics.  Your pictures looks amazing and are helping me to go forwards with the assembly.  I printed all the parts at school using five Ultimakers that we have at school. I started  doing Angels versions because I didn´t know about your project.  

  Are you sure? yes | no

dannyvandenheuvel wrote 02/21/2017 at 23:05 point

Hi, nice to see another Thor robot builder :-) My version has been build upon Angels version with some addons and some improvements, the electronics is very different. I'm also writing a software GUI controller on pc win/mac/linux to what the words stand for 'control and simulate' it. I'm not finnished at he moment, you can extend yours with all the tools I'm adding to it. If you have any ideas to improve or extend the project, give me a sign! See ya...

  Are you sure? yes | no

Olaf Baeyens wrote 01/31/2017 at 22:20 point

Hello Danny, if you ever get bored and does not know what to create next. One thing that would be nice is a holder to put the Ultrasonics v1.0 board in but in an upwards position with no UI displace sticking out. It would be nice if the robot could rotate 360 degrees without obstacles.

The design I am developing probably will not have an UI near the robot. But I may need a reset button to press as an emergency reset and maybe a LED to indicate the robot is operational.

I am toying with wireless communication, so the UI may be off the robot. 

I volunteer as guinea pig to 3D print it, so you don't have to :-)

  Are you sure? yes | no

dannyvandenheuvel wrote 01/31/2017 at 22:33 point

Hay Olaf,

I will see if I can make the time for it, it would be a nice extra add-on, and that's what I deliver to the project ... add-ons :-)

  Are you sure? yes | no

Olaf Baeyens wrote 02/01/2017 at 18:17 point

I love your add-ons :-) 

But take your time, tthe robot is not yet going to run away here :-)

  Are you sure? yes | no

dannyvandenheuvel wrote 01/19/2017 at 03:58 point

They asked me to split ART1BODY, I have gone a little bit further,
made 3 pieces of it with a roof that can be opened, you can bring the
middle motor into it on the other way, the structure has been a lot
stronger that way.The two other parts can be screwed togetter and be
glued. I think it will reduce a lot of time printing it and little
structures to use.
Also a fan has been forseen and the roof has some ventilation holes.

Hope you like it!

  Are you sure? yes | no

dannyvandenheuvel wrote 01/12/2017 at 17:00 point

Made ARTTOP_01 into two parts for all the people how struggle with supports. This solution will definitely help you out. After print them without supports you can glue then together, it will be strong because the screws goes to both parts!
You can download them from my page!

  Are you sure? yes | no

Olaf Baeyens wrote 01/12/2017 at 18:26 point

Downloaded. :-)
I will see if I can test it this weekend.

The original one had a 8.5 hour print job (0.3 mm layers). These 2 will take both each 3.5 hours. It shaves off 1.5 printing.

  Are you sure? yes | no

AngelLM wrote 01/14/2017 at 09:33 point

Hey Danny! Thanks for your work there :)
I have a question, what's the point of adding the cylinder at the top of the piece? I guess that can it could be used for house the screw heads or maybe for structural purpose but I'm not sure.

Thanks!

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dannyvandenheuvel wrote 01/14/2017 at 18:07 point

Because the upper half was 2.5mm tick and the screws! So stability and screws sinked into the material. :-) Maybe a little bit of overkill, but I don't want to losen anything of the original strength.

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AngelLM wrote 01/15/2017 at 02:09 point

That makes sense. Thanks for the explanation ;)

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brett.schenck wrote 01/03/2017 at 20:33 point

Hi great mod! Will you be posting this on GitHub? I want to print your model, but not sure where to get all the parts like screws and bars. Also, where did you get your LCD screen? 

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dannyvandenheuvel wrote 01/03/2017 at 22:18 point

Hi, Everything will be posted on github by the end of this week, I'm just modifying some small parts of the robot. All electronic parts are from reprapworld.com except the display, this comes from nextion www.itead.cc. All motor parts come from steppersonline.com, all other parts can be find by local dealers, most of them are 3D printer parts. I will add a full list of parts. I'm still in development with the electronics and the pc software GUI, so you will have to be patient before erverything has been finnished. 

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brett.schenck wrote 01/04/2017 at 11:36 point

That's awesome! I love the the EEPROM Nextion display. It seems easy and fast to make GUIs with. I can't wait to start printing your mod this weekend. Keep up the awesome work!

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dannyvandenheuvel wrote 01/21/2017 at 23:16 point

It took me a longer while to finish everything, I'm almost done, the first part (base) of thor+ version 1.0 has been placed on this project place. The next comming days I'll try to upload every other part of the robot.

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dannyvandenheuvel wrote 01/02/2017 at 19:02 point

I have a complete positioning system that works,
this function I added to the stepper library and saved it to a new
library, you just have to give a position in degrees and it runs to that
point. I added a lot of things like positioning to homing sensor,
emergency stop, stop with or without holding the motor on current,
speed. It's working fine! To stay in sync and let all the motors having
the same speed when one or more motors stop I virtual keep the same time
needed to move the motor 1 step to behold the same timing if it is
running or not. I will mean, by saying it runs to that point, it moves 1
step and gets out of the routine, the next time if it isn't at position
it moves again 1 step so that there will be free idle time to do the
rest of the program. If you don't do it that way you've got different
speeds while moving more than one motor. I'm finalising this routine, it
is working, just the motors are a little bit noisy because I had to put
them on halfstep to have the fastest speed possible. I put a snippet on
my page or you can download the library.

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dannyvandenheuvel wrote 12/26/2016 at 23:30 point

First glimps of my new robot controller, positioning routine stepper
motor, at the same time serial connection with nextion display at 50ms
refresh rate!
Take a look at my project page!

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Olaf Baeyens wrote 12/11/2016 at 21:52 point

I  have been wondering how we could control this robot easily. 

If we have a joystick, and different mode buttons, then maybe:

Mode 1: Left = rotate base arm left, right= rotate base arm right, up= move base arm up and down = move base arm down.

Mode 2: We use the joystick as a reference point where we can point into the direction we want the arm to rotated and the speed can be varied by how far we move the stick from the center.

Mode 3: We use the robot hand as control point and use inverse kinetics to decide how to move the parts.

The important part is to switch between modes easily.

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dannyvandenheuvel wrote 12/11/2016 at 22:28 point

Also on the list, joystick with analog cursors. Best to communicate with and cheapest to find are ps3 controllers. I try to spare as many resources for the main controller so it has good motor control, so serial communication must be very smal. I have now 3 motors run togetter and works perfect in sync with one degree shifted. The controller shifts every cycli 1 degree if the position isn't reached at a selected speed of the motor. If its on position it will stop and give an onpos signal, when it's moving it gives an busy signal. Parameters motor are speed,position absolute or incremental (can be positive or negative for direction, enable, steps for one revolution and microstep range 1,16,32,etc... , homing motor, and home signal. I used to work a lot with servo motors and pwm motors.

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dannyvandenheuvel wrote 12/11/2016 at 21:06 point

Working on soft multithreading software to let step motors work
simultaniously. Vanish graphical display, ways to sloooow to work with,
takes to many resources. Googled the web and find cheap displays
'Nextion' with building cpu and with seperate graphical designer. Very
little resources with simple serial communication. Gone try this one.
Not at the end of my story for now :)

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Olaf Baeyens wrote 12/11/2016 at 21:40 point

You are always multiple steps ahead of me. It was one of the question I was going to ask, how do you control multiple motors at the same time. I am very experienced in multi threading but this is a whole different ballpark since you have limited resources.  

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Olaf Baeyens wrote 12/04/2016 at 15:22 point

Hello Danny,

I am trying to figure out where I can purchase the motors, Amazon is not very helpful but I have found this link. I have no background in motors and electronics for motors. 

I found this link: http://eu.stepperonline.com 

Are these the correct motors?

1 x Nema 17 Bipolar Stepper 12v 0.4A 40Ncm(56.7oz.in) 17HS15-0404S (€11.5 each)

3 x Nema 17 Stepper Motor 34mm 12V 0.4A 26Ncm(37oz.in) 17HS13-0404S (€8 each)

This one I am hesitating to order, since they are pricey since it has a gear-box:

3 x Gear Ratio 5:1 Planetary Gearbox With Nema 17 Bipolar Stepper 17HS15-1684S-PG5 (€31 each)

The combined cost would be €130 euros + €10 shipping costs.

To drive these motors I probably also need a power supply.

If I am correct then these motors need 12-24 V power supply, 24V would be better I expect.

Which one would be optimal for the Thor robot? Maybe with a bit to spare so I can recycle the motors for another project.

http://eu.stepperonline.com/power-supplies-c-5.html

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dannyvandenheuvel wrote 12/04/2016 at 17:11 point

Hay Olaf,

Best point to buy stepperonline, motors you need
3 x geared 17HS13-0404S-PG5 ,be carefull to give up this whole number because there's a variant with a 8mm axis, you need a 6mm axis!
1 x 3D Printer Nema 17 Stepper Motor 2A 45Ncm(64oz.in) 17HS16-2004S1
I took this one over  the other 17HS16-0404S because it's a lot stronger.
3 x 17HS13-0404S 5mm axis
All step motors will run between 12-24V, I use 24V full power,  arduino + Lcd needs 5V so I used a combi power supply at conrad (It was very expensive) SUNPOWER 510402 24V - 4A / 5V - 10A. (I good power supply is recommended)
Watch out for ordering with stepperonline, I had afterwards an extra invoice from DHL with import costs 17% off the total amount. Motors came from china.

Best regards

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Olaf Baeyens wrote 12/04/2016 at 21:22 point

Thanks for the feed-back!

That is what I try to avoid, import costs. 

And stepperonline seems to have a German address.

But good that you warned me.

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Olaf Baeyens wrote 12/04/2016 at 21:53 point

I just ordered the Sunpower power supply. Price €99 but everything needs a good power supply. And this power supply will definitely be reused for other projects.

I had one parallella board that kept on failing, only to discover that the power supply did not give off enough amperes, even though it was written on it that it supported that.

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Wilmer wrote 01/16/2017 at 17:35 point

Hello Danny, First, excellent work here. 

My students of mechatronic engineering and I are going to start building it!!!  

What would be the implications of selecting: 4 x Nema 17 Stepper Motor 2A 45Ncm instead of: 1 Nema 17 Stepper Motor 2A 45Ncm + 3 Nema 17 Stepper Motor 0.4A 26Ncm ?,  Only current consume?

Thanks in advance.

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dannyvandenheuvel wrote 01/16/2017 at 20:51 point

Hi Wilmer, One of the biggest problems will be the heating in the small chambers, I'm working on the chambers to extend them with fans to have a good air flow inside of it. It's not when they are moving but when they are standing still under control. If you want to use more powerfull motors on the other joints you will have to forsee a stronger power supply, keep in mind that the small power drives going to work at 100% so they also have to be cooled down. I'm working on this issues, it's not that easy to keep it budget friendly. Stepper motors with a break could be a good solution but they will be greater in volume and won't fit into this design anymore. Closed loop would also be a better solution to keep the motor more  under control but also this will be cost a extra space for the encoder. The steppers with the gearing are strong enough because we have a factor 1:5 at strengthness on them. It's only for the tools head and there you don't need that extra power, so my advice, the only motor that can have more power will be the base, and that's what I just did.  It's not only the power but it will be faster turning around. By the end of the week all new drawings with cooling fans will be online.
I am working on a pcb board to bring all the wires togetter because it's a mess.
Read the latest notes at my page to see what I'm finishing at the moment. I strongly advice you to wait a few days when the new designs are online. As you can notice there are two version hanging around, that's the original from AngelLM and mine version. My version is still in development, at the end of the week the first prototype will be ready to completly build, the software needs a lot of improvements but manual movement isn't a problem anymore. The electronics is quite different between AngelLM and my version. You can ofcourse build you own software design, I leave it up to you. :-)

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dannyvandenheuvel wrote 01/16/2017 at 20:54 point

Keep also in mind that the more powerfull steppers are a little bit higher, they won't fit in the tools chamber, you have to change the design.

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Wilmer wrote 01/17/2017 at 03:38 point

Danny, thanks for answer. I understood your point. I will be waiting for your updates.

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kidswong999 wrote 01/27/2017 at 18:08 point

Hi,How ablout using 3 mechaduino drivers with position feedback?https://hackaday.io/project/11224-mechaduino

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dannyvandenheuvel wrote 01/27/2017 at 18:33 point

I looked at it a while ago, at this moment the mechaduino stepper motor will be to thick to fit inside the robot.
I 'm experimenting with potentiometers at the moment, I will let you know the results as soon I have tested it.

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dannyvandenheuvel wrote 12/04/2016 at 22:03 point

By the end of the week I will post the compleet electrical sheets and completly documented manual how to build the electronics togetter to drive your own robot. There will be software into the arduino to communicate with the hand controller as well the control with the graphical GUI controller (The graphical controller isn't finnished for the moment so software upgrades will follow when progress has been made)
Just to let you know the progress at time moment!
Good luck with building up your own 'THOR' :)

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Olaf Baeyens wrote 12/05/2016 at 18:27 point

Looking forward to it.

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dannyvandenheuvel wrote 12/11/2016 at 22:51 point

Will be any days later, did some changes so it has a little delay, try to bring them online in the next comming week!

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guiducci.alessandro wrote 6 days ago point

Hi Danny, did you posted the manual how to build the electronics together, ? I'm planning to start your project but before i'd like to be sure to be able to do it  :-) last question, Up to you should be possible to use a Ramps board? thank you very much for your time!

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