A project log for 'Thor' robot with addons and GUI

Thor robot based on the author AngelLM

dannyvandenheuveldannyvandenheuvel 08/05/2017 at 21:0711 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.


drew wrote 11/16/2017 at 22:46 point

Hi Danny, does your current 2.04 Base support mounting the Vert-X 1601 sensor? It looks like it still uses the 10 turn pot. What about Art5?

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dannyvandenheuvel wrote 11/16/2017 at 23:30 point

Hello Drew,

Not yet, Sepio has made some fantastic modifications, I will update to version 2.05 very soon with all these modifications and exchange the potentiometers by the vert-x sensors at the same time. There will be a upgrade at some parts so you can decide what you want to change if you allready start printing version 2.04.

Best regards

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drew wrote 11/16/2017 at 23:34 point

Great! Looking forward to the changes. I've been reading Sepio's log and it looks like he's doing some nice stuff.

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drew wrote 11/16/2017 at 23:55 point

I was looking at the specs for the Vert-X and there's one that puts out SPI instead off PWM. That gets you 14 bits of precision instead of 12. I am confused on how you're getting 2048 point out of the Arduino's analog input. I thought that yields a value of 0-1023.

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dannyvandenheuvel wrote 11/17/2017 at 09:58 point

It is possible to increase the resolution

analogReadResolution(12); //set ADC resolution to 12 bits

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AngelLM wrote 09/27/2017 at 11:16 point

Hi Danny!
As I said , I'm thinking about make your 2.04 version. That version still uses the feedback sensors of this log, right? What precission you get with this kind of potentiometers?

Best regards!

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dannyvandenheuvel wrote 09/27/2017 at 14:21 point

Hi Angel,

For the base (Art1) and wrist (Art4) I changed from potmeter to magnetic sensor from contelec Vert-X 1601 (endless rotation) accuracy 0.1° / analog input arduino 10bit ordered by

2048 points devided by 360° = 5,68 points for 1°. For the Art 2,3,5 and 6 I use a makeblock hollow potmeter (murata SV01) , it can rotate endless but it measures between 0..333°. liniarity 2%  up to 1 million cycles. It's not that good but for referencing startposition and visualisize place it's good enough, It could be posible to insert some magnetic angle sensors for better results, maybe I will do that in a later state/version. All feedback from art 2 till 6 will be come togetter in arduino mini board attached in art 2 and be serial connected to arduino main board. It works very well. Sepio has changed some parts to make it more stable, it's allready updated in my latest version 2.04. When I got some time I will change them also in my robot.
I didn't got time to make a demostration of my robot but he was fully assembled and now back in pieces to change the latest improvements.

btw, sepio has some good visual instructions of assembling to whole robo!

I have all the patience to build it with all features I want and be controlled by the GUI controler. I wish I've got more spare time ;-( , we all have to earn some money to survive.


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AngelLM wrote 09/27/2017 at 14:44 point

It sounds great for me! Thanks for the info :D

I hope I'll start the printing soon... I'm not sure about reusing the not-printed parts or spend a little more and build another robot... I'll think about it, uhm...

I wish my days had more hours too hahahaha

Best regards!

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AngelLM wrote 08/07/2017 at 15:17 point

I'll never get tired of your awesomeness. Great work! :)

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dannyvandenheuvel wrote 08/07/2017 at 21:41 point

Thanks! It all started with your project, It's realy a fantastic product you have created! Keep up the marvelous work! You have created a strong community around it.

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Olaf Baeyens wrote 11/16/2017 at 23:28 point

I completely agree with you.

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