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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

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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 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!

  • 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

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? 

  Are you sure? yes | no

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!

  Are you sure? yes | no

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.

  Are you sure? yes | no

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!

  Are you sure? yes | no

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.

  Are you sure? yes | no

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

  Are you sure? yes | no

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.

  Are you sure? yes | no

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.

  Are you sure? yes | no

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.

  Are you sure? yes | no

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. :-)

  Are you sure? yes | no

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

  Are you sure? yes | no

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.

  Are you sure? yes | no

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' :)

  Are you sure? yes | no

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

Looking forward to it.

  Are you sure? yes | no

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 04/24/2017 at 09:36 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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Bobby Feather wrote 12/03/2016 at 16:38 point

When I get my new 3d printer I am defiantly building this for me and my son to build. 

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Olaf Baeyens wrote 11/30/2016 at 22:36 point

There is one thing not very clear in the project. I see the controllers, I see the motors, but where is the power supply to provide power to the necessary motors?  I can't imagine that it can fit in the Thor housing.  And how big would that one need to be?

  Are you sure? yes | no

dannyvandenheuvel wrote 11/30/2016 at 23:37 point

I use a labo dual power supply for the testing at the moment. The power supply will be 5VDC and 12VDC. It's not that small so it has to be into a separate box. The power consumption has to be calculated, I am using 5A for the 5VDC and 10A for the 12VDC at the moment.
I am thinking to make a box under the base feet.
Also my motor drives are outside the robot because I used some overdimensioned drive controllers with cooling ribs. That's why I work with a seperate connector box on the base to go to a controller box. This project will needs it's time to completely be finished.

  Are you sure? yes | no

Wilmer wrote 11/22/2016 at 16:18 point

Excellent work!, I am going to building it. Could you post your github address?

  Are you sure? yes | no

dannyvandenheuvel wrote 11/22/2016 at 21:16 point

Hay Wilmer, you can find me at https://github.com/Danny-VdH , all stl file can be downloaded from there or here at my project page.
greetingz..

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Hans de Bruin wrote 11/21/2016 at 19:00 point

Hi Danny, thanks for splitting the art2bodyA and B into two halves. Great work.

Would you also be so kind as to make the basebot a tiny bit smaller? It is now only a few millimeters too big for my Ultimaker. I have tried to export it from Freecad to Solidworks but that didn't work very well. 

I tried to edit it in Freecad but the model is a bit strange. I can't find or modify any part in it. But I'm not familiar with Freecad... I've tried to copy the model in Solidworks but the measurements are a bit strange.

If you could trim 5 mm from the outer edge that would really help me.

Thanks. 

Hans

  Are you sure? yes | no

dannyvandenheuvel wrote 11/21/2016 at 19:39 point

Hay Hans,
You know my version of thor is made of two pieces, a connector box and the base itselfs. The outer diameter is 200 mm, you want this 5 mm smaller or 10 mm ?
The maximum I can reduce without changing the holes will be 10 mm , a diameter of 190 mm. Tell me what you want and I will make a special version for you :)

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Hans de Bruin wrote 11/22/2016 at 07:37 point

Hi Danny, 

I also tried your version but it still is a bit too large. If you could change the outer diameter to 190 mm that should work.

Thanks for your help!

  Are you sure? yes | no

Hans de Bruin wrote 11/25/2016 at 10:12 point

Hey Danny,

I finally figured it out!!! Freecad is a bit difficult to understand sometimes. But I  figured out how the base was drawn and I was able to edit the sketch to make the diameter smaller.

So I can print it now.

  Are you sure? yes | no

dannyvandenheuvel wrote 11/25/2016 at 10:27 point

OK, nice

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dannyvandenheuvel wrote 11/20/2016 at 22:56 point

Part 2!  Thor ROBO_GUI , playing with cubes. go to my page to see it with your own eyes :)

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dannyvandenheuvel wrote 11/20/2016 at 22:37 point

I'm also thinking to remove them because they will be glued togetter, I will change the drawing.
Thanks!

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dannyvandenheuvel wrote 11/20/2016 at 22:25 point

Hello Olaf,
You have to bring the two motors first in the lower part, don't tighten it to strong, you have to move it up and down. Bring the second part with the belts hanging over the gears. When the two are fit togetter bring te belts over the pully and tensioning the belts.
Hope it helps :)

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Olaf Baeyens wrote 11/20/2016 at 22:02 point

Hello, 

I printed ARTBODY_1 and ARTBODY_2.  I noticed that you have provided a rim and 4 bolts holes.  ARTBODY_2's rim is blocking the entrance of the 2 nuts into the lower nuts holder. 

Maybe you could alter these 2 nuts holders so that the holes are at the side.

I glued these parts together and I don't think that the rims are needed, just gluing these parts it together makes it very strong.

If  you can lose that rim then you also can print faster because you do not need a support structure that high.

Both ARTBODY_1 and ARTBODY_2 are about a 7-8 hour print.

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Alex Martin wrote 11/19/2016 at 21:43 point

Really nice design! It feels good just looking at the robot. The print quality is very high as well, I gotta step my game up ;)

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dannyvandenheuvel wrote 11/19/2016 at 00:35 point

Hi all! on my page the first glimps of the graphical controller! Basics has been fullfilled! Now the big works arrives making the simulator and after that the real TCP socket connection between this piece of software and the real robo arm!!!!

Take a look and give any comments as you like, all feedback is welcome!

  Are you sure? yes | no

French Makers wrote 11/18/2016 at 14:12 point

Hi Everybody,

Congratulations for all work !

We're ready to assembly the arm ;-)
All parts have been printed:



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dannyvandenheuvel wrote 11/19/2016 at 00:30 point

Howly sh... very well done! another thor will wake up these days!

  Are you sure? yes | no

AngelLM wrote 11/22/2016 at 15:24 point

<3

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Olaf Baeyens wrote 11/15/2016 at 22:14 point

Something else. You live in my country. I have been search like hell to find metal rods that have a diameter of 5 millimeters. I find 4 mm and I find 6 mm but not 5 mm. 

Any idea where I can find these parts?

  Are you sure? yes | no

Olaf Baeyens wrote 11/16/2016 at 18:45 point

Cool!

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Olaf Baeyens wrote 11/15/2016 at 22:08 point

Some feedback I had an issue with your ART2BODYA_1.stl when printing it.  I tried it a few times with similar issues. Maybe it is possible to modify the model a bit so that this does not occur. I am thinking about slopes that avoids needs of support structures.

https://hackaday.io/project/16483-building-the-thor-robot/log/48925-art2bodya1stl

I am not up to speed enough to modify stuff with FreeCad. Still a nOOb

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dannyvandenheuvel wrote 11/15/2016 at 23:42 point

Can you sent a picture with marks on where I have to change it? 

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Olaf Baeyens wrote 11/16/2016 at 21:02 point

I have no time today to take more pictures:

But if you scroll down on this link, then look at the arrows

https://hackaday.io/project/16483-building-the-thor-robot/log/48925-art2bodya1stl

It is always at the corners of the side that needs support structures. And it always pulls the support structures from my 3D printer bed the very moment you start to print the real layer onto of these support structures. I assume that the new top layer (ABS) starts to curl upwards as it cool and pulls the support structure upward.

If you have this happening the first time then it could be bad luck, but if it happens 3 times in a row and at both corners then it becomes a pattern and other may also encounter this issue.

I wonder if we can improve this design by not making it a hoovering pretty big flat surface that needs a support structure but maybe curved or triangle cut that avoids a need of wasting plastic on support structure.

There are more issues to it, but I will put that in one of my blog posts the next few days.

I managed to print them, and then glued together. It is not a waste of plastic, just 3 hours of printing time.

I really love your changes :-)

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Olaf Baeyens wrote 11/18/2016 at 09:40 point

Hello Danny

I created a blog post, with more pictures to show the issue.

https://hackaday.io/project/16483-building-the-thor-robot/log/49188-art2bodya1stl-update

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dannyvandenheuvel wrote 11/15/2016 at 21:13 point

Some more updates!
Progress on graphical GUI robot application. 

Ported to linux, have some little issues to fix but it's looking good, so now 3 platforms has been made. I will have a moment of silence for a few days, lots of programming for my usual work :( but after that I will be back :) as never before!
BTW next week I will make a movie of assembling my personal 'Thor' robot. Every part has been arrived and I am trilled to make and become a owner off a great piece of toy, happy like a kid!

See ya!

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AngelLM wrote 11/16/2016 at 15:20 point

Yay! Happy to read that! :)

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