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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_V2.04.rar

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

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ROBOT_THOR_V2.04.rar

Step design Thor+ V2.04

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

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STL_V2.03_BASE-VERTICAL-HOLES.rar

Base with fan and vertical hols Thor+ V2.03

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

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THORV2_03.rar

Step design file Thor+ V2.03

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

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STL_V2.02.zip

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

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

Download

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

  • UPGRADE THOR+ V2.04

    dannyvandenheuvel09/23/2017 at 20:27 2 comments

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

    All STL and STEP files online!

  • VENTILATED BASE

    dannyvandenheuvel08/15/2017 at 13:28 6 comments

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

  • THOR+ V2.02 WITH FEEDBACK SENSORS!

    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...

  • UPDATE THOR+ ROBOT_GUI CONTROLLER

    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!

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

    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+
    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!)

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

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Discussions

Peter Myrie wrote 4 hours ago point

Hi

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

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

jingyufeng123 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.

  Are you sure? yes | no

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

  Are you sure? yes | no

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 https://hackaday.io/project/26341-building-and-improving-the-thor-robot-arm

  Are you sure? yes | no

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...

Best,
Naturobotic

  Are you sure? yes | no

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

Hello Naturobotic,

Card docs can be found at https://reprapworld.com/listing/electronics/

best regards,

Danny

  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

https://github.com/Danny-VdH/MODIFIED-STLS

  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?

  Are you sure? yes | no

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?  

  Are you sure? yes | no

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!

  Are you sure? yes | no

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?

Thanks!

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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

Hello,

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.

  Are you sure? yes | no

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.

  Are you sure? yes | no

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 :-)

  Are you sure? yes | no

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.

  Are you sure? yes | no

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 dannyvdh@pandora.be.

Thanks for keeping to project alive and kicking :-)

  Are you sure? yes | no

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 https://reprapworld.com/, it is based around arduino due. step drivers came from https://www.pololu.com/

Hope it helps :-)

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

Hello,

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.(https://www.thingiverse.com/thing:1693444)

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?

SOURCE CODE / FIRMWARE:

I was looking for the firmware for the Utratronics board. On the reprapworld.nl 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 https://github.com/AngelLM/grbl. This contains the things AngelLM has developed. Is this compatible with the Ultratronics? (Because it has another processor).

POTENTIOMETER:

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. https://www.ebay.com/sch/i.html?_nkw=5+turn+potentiometer+5k

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

CAD FILES:

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 :=)

  Are you sure? yes | no

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

Hello,

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.

https://hackaday.io/project/16483-building-the-thor-robot/log/62421-programming-the-nextion-7-panel

Connecting the Nextion display I also provided some steps. 

https://hackaday.io/project/16483-building-the-thor-robot/log/62419-connecting-the-nextion-7-panel

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

https://hackaday.io/project/16483-building-the-thor-robot/log/50484-ultratronics-pro-v10-programming-setup

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.

https://hackaday.io/project/16483-building-the-thor-robot/log/60372-development-controlling-the-stepper-motors

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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. https://hackaday.io/project/26341-building-the-thor-robot-arm

  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 :-)

  Are you sure? yes | no

Sepio wrote 08/04/2017 at 07:59 point

Hi Danny,


The last few days I have looked at al the great work you have done. I have desided that I am going to print your version of the Thor+ Robotic arm. Yesterday I ordered most of the hardware for the big case version with display.

I haven’t bought the Bulging 400 series Buccaneer connectors yet. There are 3 holes in the case. Do you use al three connectors? How many pins do you use of each connector? I would like to replace the one for the power cable with a 2pin 8A rated connector.

I will start printing today. Can you tell me which parts are safe to print an which parts will change in v2.02?

Best regards from the Netherlands

  Are you sure? yes | no

dannyvandenheuvel wrote 08/05/2017 at 19:17 point

Hi Sepio,

sorry for the late reaction, to busy :(
I'm trying to put version v2.02 online today, I am almost finnished with putting all stl togetter. It will be in a couple of houres.

  Are you sure? yes | no

dannyvandenheuvel wrote 08/05/2017 at 21:14 point

V2.02 online! also added case with or without connector holes so you can decide the connector you want to use :-) happy printing!

  Are you sure? yes | no

Sepio wrote 08/06/2017 at 09:12 point

Thank you for the new version. I really like this design. 

I tried to run the unzipped MAC_ROBO_GUI_V0.1.11.2016.rar. But it isn’t a valid app. Do I have to do anything extra?

  Are you sure? yes | no

dannyvandenheuvel wrote 08/06/2017 at 17:32 point

You have to go to terminal mode.
right click on app and  select 'show package contents', double click on contents, then double click on MacOS.

type in terminal chmod 777 and press spacebar

now drag file MAC (in map MaxOS) to terminal en press enter.

Now double clieck on app, it will open now because it has enough rights.

Sorry for that problem, will be fixed in next release.

  Are you sure? yes | no

dannyvandenheuvel wrote 08/06/2017 at 20:55 point

If it still won't run you have to validate the program, go to security and privacy and set permissions for this app.

Have fun!

  Are you sure? yes | no

kurtanskyrene wrote 07/18/2017 at 14:30 point
Hi Danny - really like the work you've done to this project.

How is V2.02 going along? When can we expect the updated files for 3D printing and closed loop systems to be uploaded?

  Are you sure? yes | no

dannyvandenheuvel wrote 07/18/2017 at 17:32 point

Hello kurtanskyrene,
Little changes has to be done, I have been programming a while on the GUI controler. Soon I will pickup and after the global testing it will be published.

Best regards.

  Are you sure? yes | no

Marc Peter wrote 07/18/2017 at 18:18 point

Hi Dany, I'm ready to print, it's my favorite next project. And many thanks for your works! Best regards from Swiss

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dannyvandenheuvel wrote 07/18/2017 at 18:34 point

Thanks

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dannyvandenheuvel wrote 08/05/2017 at 19:18 point

Like I mension it at upper comment, I'm trying to get everything online today.

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dannyvandenheuvel wrote 08/05/2017 at 21:15 point

V2.02 online! happy printing!

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kurtanskyrene wrote 08/07/2017 at 09:13 point

Excellent, thank you Danny! How many months did this take you, because the  GUI controller looks like some really quality stuff. I will finish another project I am working on and then start with this. I'll report my progress.

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dannyvandenheuvel wrote 08/07/2017 at 10:10 point

I started programming of the GUI controller from the start of this project, don't remember it exactly, it's in my free time and that has up and downs. Around 30 full days of programming all togeter I supose. I'm working on the recorder/player , it will work like a graphical programming enviroment like 'blockly' from google.
The hardware will get an extension with inputs and outputs so you can command or decide when to command the robot arm. I have a lot of ideas so inspiration enough!
Hope you like it so much like I did by building it :-)
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.
Software is another part, it's not ready finnished because my version will work with the Graphical GUI in the making. Because I'm working on a second robot arm I will make them compatible with eatch other. On the other hand you can make your own software in the arduino to move it around and later on you can upgrade it with my controller, the choice is yours! I'm sure you will need time to build it, I have assemble and disassembled it a lot of times, It has to be perfect when I finnish this project.

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saedna42 wrote 06/04/2017 at 09:55 point

hi danny :) have some silly question

ima working on build tor
h/w part(printing,replace) is almost finished, ultra sonic board is shipping now..
(also my pocketmoney is 0..)
but .. i do not have experience for s/w like c or arduino etc.. im stuck at s/w

is there any follow the s/w work flow?

sorry for my english,  im 17years old just start learning english
Thanks for all

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dannyvandenheuvel wrote 06/09/2017 at 03:02 point

Hello Seadna42,

I'm working on hardware manual en necessary documentations, in the next comming days it will be published. It becomes a very clearly defined documentation.
Still working very hard on graphical GUI controller, it is progressing very well at the moment so watch out , it will be released very soon.

Best regards.

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rurikovich wrote 05/18/2017 at 18:38 point

Hello:) can I use arduino due + ramps-fd instead of  Ultratronics Pro V1.0 ?

Will it fit in the bottom of the arm ?

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dannyvandenheuvel wrote 05/18/2017 at 19:19 point

Hi Rurikovich,

You can, but you lose some extra's like ethernet, SD card. It all depends what you want to reach. If you want to connect with the graphical interface you need ethernet and SD card. If you make your own controller or someone else you don't. It's up to you :-) Will it fit in the bottom, no way, to near inside of the base. You could use the addon case, there is plenty of room in it. If you want some modified piece you can ask, if I have the time I will do the modifications for you.

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rurikovich wrote 05/18/2017 at 19:28 point

thank you for the answer. I understand.

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guiducci.alessandro wrote 05/10/2017 at 14:34 point

Hi people,

silly question, Ultratronics Pro V1.0 board is >100 euro?or i can't find the right seller... is there a cheeper option?

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dannyvandenheuvel wrote 05/10/2017 at 15:26 point

Hi Alessandro,
I know the board isn't cheap but everything except the drivers are on this board. If you take a arduino mega with ethernet shield and a driver shield you will pay allmost the same prize. The ethernet will be needed when you want to command it with my graphical Thor GUI controller in the near future. You need 7 additional stepper drivers.
You find the drivers at Pololu site. https://www.pololu.com/category/154/drv8825-stepper-motor-driver-carriers-high-current and the main board at https://reprapworld.com/products/electronics/ultratronics/ultratronics_pro_v1_0/

The PCB has a compatible arduino DUE on board and has the advantage that it is 3 times faster than arduino Mega board.
It has a lot of extra's on board ! I've added a bluetooth host to command it with a PS4 controller for manual movements. http://www.hobbytronics.co.uk/ps4-controller-bluetooth

Hopefully you understand why I chose this solution.

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guiducci.alessandro wrote 05/10/2017 at 16:05 point

Thank you Danny, very clear! Last question, where can i find a wiring diagram and instructions for all the electronic parts?

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dannyvandenheuvel wrote 05/10/2017 at 16:19 point



This is the latest electronic sheet from my project.
https://hackaday.io/project/16665-thor-robot-with-addons-and-gui/log/53204-electronic-sheet-thor
There are some addons around the main board but not needed, all depends what you wanted to achieve.
There will be a more detailed drawing comming soon.

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Olaf Baeyens wrote 05/10/2017 at 18:51 point

Hello Guiucci, I want to point out that this Ultratronics board v1.0 is an Arduino Due. which operate at 3.3V.  Be careful when you want to hook up 5V sensors, you need a way to convert it to 3.3V

The other thing you must know is that this board can handle 12V or 24V. IF you choose to connect 24V to it then realize that every 12V mark on that board is actually 24V. So you must use 24V fans instead.

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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

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