Just a small preview. Any idea what it might be now? based on your interests. Have a nice Christmas eve. The new version can be download here. The more people are interested in this project, the more feedback I get. Communication is to receive or send any kind of information. Since then, this project has continued to develop little by little. I used a spring as a strain relief on the cable. I tried to translate it but I didn't be able to understand the translation either hi, i am very much impressed with this project, and want to learn more about it and build one my self, i'm just missing some part of connections of your module to arduino also the arduino setup for the operation of this robot if can provide such info it will be great !! the robot arm assembly as claimed in claim 5, wherein the first transmission mechanism comprises a first belt transmission assembly, and a first rotary shaft, the first belt transmission. The GripMountB is a little bit thicker. It's my first time programming something that doesn't use the terminal for the user interaction so please be gentle with me hahaha. thor endgame . . This project was Right click and choose "Save to stl" to make it printable. AngeL said he used PLA for all parts? If all parts can rotate and stay into the right place then it will work. Project Thor - Robot arm - YouTube Printing, assembly and electronic welding of the open source project #Thor Robot arm.Thanks to @Angel LMhttps://github.com/AngelLM/Thor Printing,. One for a 20x6mm pulley shaft and another for a 16x7mm pulley shaft. These would be the key features of Asgard GUI: (features marked with a are already implemented!). I used PETG for some black parts. I added a bearing. The final design had to be compact and safe. Thor: OpenSource 3D printable Robotic Arm 1-30 of 126 IMPORTANT: This Google Group is obsolete, the community has been migrated to the new Thor website. 59 robot arm projects Gesture Controlled Trainable Arduino Robot Arm via. I also added the GripGear.stl (which was missing in Danny's version). Its also possible to use some heat shrink tube. This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository. Also, I designed covers and protections to reduce the risk of entrapment while the user is manipulating the robotic arm. You can design an intermediate piece that fit with the interface on one of its sides and with the tool on the other side. Painting robots were in the news last year when a robot artist, name Ai-Da, became the first to stage an exhibition. THOR robot arm is now simulated in Robot Overlord. The arm is designed to be manufactured with minimal fabrication effort: the only instances of manual fabrication are drilling the arm's base plate and linkage body tubes, sawing the linkage body tubes, and heat-setting several brass inserts into 3D printed parts. By rotating the inner part the balls are traveling to the bottom and the hole is free to insert the next ball. So I decided to redesign it. After a while I really didn't understand why it wasn't working. It's the crossover episode you've been dreaming about! 08/03/2016 at 14:50, sla - The gearhead is a separate piece. Thor on the other hand has essentially the same designas a modern lightweight arm, with modifications for very low cost. The first project I found was theMantis Robot Arm. Tip Question Comment Be the First to Share Thor 3D printed Robots The Thor Project The Thor Project is a project created by AngelLM, who wanted to create an Open-Source 3D printable Robotic Arm. The hole inside the gear is too big. Hi, I'm assemblyng thor, but i can't understand how the art 3-4's bearing works. Contact Hackaday.io This way the screw thread will work. Releasing the source files and doing so under an open source licence was the best option: anyone could study any element of the robot in depth and, moreover, modify or adapt it to their needs. Thor-robotics. Open the app and touch on empty space. Give Feedback Terms of Use Assembly Line Worker JOBS 10. You rock! In addition, several papers have been published in which Thor plays an relevant role. Below, the diagram of the electronics in charge of controlling the Robot. I might drill a hole on the bottom of the ring for the wires. Malfunctions covered after the manufacturer's warranty. I added support for the LPD3806-600BM rotary encoder. The motors tookup a lot of space and there wasn't a single small area to establish the second support point for the second articulation axis. can you extend the reach? It also still includes the previous version with the display on top. Today, assembly robots are found in applications far beyond automotive. In its extended position, Thor is about 625mm high and can lift loads up to 750 grams. Since a few weeks I'm receiving a lot of questions/feedback/information from many different directions (email, Twitter, Hackaday, Thingiverse, GitHub, Wevolver, etc.). This makes adding the belts easier. Become a member to follow this project and never miss any updates, About Us There are few laws that apply across every one of the million and more worlds of the Imperium of Man, and those that do are mostly concerned with the duties and responsibilities o The initial idea was design a DIY PCB board, but due to its limitations and how cheap is to manufacture it in China I decided to design a better control board. Its configuration (yaw-roll-roll-yaw-roll-yaw) is the same one that is used on most manipulator robots that currently exist in the market. I use some Alkotip wipes to clean the glass plate before printing. You should Because of the fan holes the ART5 covers didn't fit anymore. 08/03/2016 at 14:50, sla - It is now possible to leave this part connected to the lower base and add the upper body separately. Animated by a nearby lifeforce, it battles Thor to a standstill, Loki is forced to intervene and stop the Destroyer using lethal force when Odin threatens to kill him. I have a Ultimaker 2 Extended + with top cover and door. Best,Naturobotic. The external Nextion display is finally printed. He made an awesome work, and I wanted that modifications to be in the main repo, so I added it! (But his downloadable STL is different). Its not perfect at all, but it helps to understand the assembly. 1.24 MB - 3. and the kids can use the operation lever to control various actions of the robotic arm easily, allowing the child to explore and enjoy the fun of hydraulic toy. Use a flat tool to push the bearing in it's hole. Now I should be possible to use the 232-2GT belts instead of the 208-2GT belts. Follow the following steps for making the rams of the robot. if yes, did you post the files as well? After days of searching, I decided to make my own. based on your interests. Your arm is already now. Its configuration (yaw-roll-roll-yaw-roll-yaw) is the same one that is used on most manipulator robots that currently exist in the market. In my previous log I already told that I moved the display external. Now I'am going to start to connect al wires and start developing the software. The lower yellow ring and the black ring above are optional. First I had to cut the GT2 belt to length. The small gears are supposed to rotate freely on the axle but the aren't any spacers to prevent them to go up or down the axle. 09/17/2017 at 15:10, Standard Tesselated Geometry - It has been a while since I last had the time and motivation to make a substantial improvement to this project. Blow molded Thor hammer costume accessory; . In its extended position, Thor is about 625mm high and can lift loads up to 750 grams. Create profitable strategy to import Wheel well in Andorra with Top Wheel well exporting importing countries, Top Wheel well importers & exporters based on 0 import shipment records till Dec - 22 with Ph, Email & Linkedin. We will send you an Amazon e-gift card for the purchase price of your covered product. 2.33 MB - The project started in 2015 as a final degree project called Design and impplementation of an Open Source, 3D printed 6DOF robotic arm. Plus, they also created this tool with servo motors. more pictures, please visit the makerobotix wiki. Can it be used for anything useful at all? I never used SMD before, but there's a first time for everything haha. I used two rotation sensors on the Art56MotorCoverRing. There were six crewed U.S. landings between 1969 and 1972, and numerous . The extra holes are for setting the belt tension of the ART5 and 6 motors. Radiated harmonics could cause all sort of issues. The first project I found was the Mantis Robot Arm. Its been a long time since the last time I wrote a log! I will start my Thor in Jan. 2018. And the upper part. Project owner will be notified upon removal. I am going to change the small gears also. Log in. Thor-robotics. Most claims approved within minutes. You may encounter this issues (mine was with a PS3), https://hackaday.io/project/16483-building-the-thor-robot/log/56239-ps3-controller-i2c-concerns. 6. It has a powerful ARM Cortex M0 processor and a bunch of input/output ports + sensors. Below the latest step files and stl's of al the new and changed parts. The DFRobot 5 DOF Robotic Arm Kit consists of all of the servo motors, brackets, fasteners and other hardware that you will need to construct a small but powerful robotic arm complete with a gripper mechanism. Could you make a BOM list or at least what additional orders you have done that are different than AngelLM's BOM. Any chance you can share the software you used to control the steppers? One step closer to fully open source process automation! For the electronics I chose an Arduino Mega as main controlling board. If you have some suggestions/tips/comments please post them! I loved this design but I was missing the feedback sensors. 08/03/2016 at 14:50, sla - Project owner will be notified upon removal. To make the experience fit your profile, pick a username and tell us what interests you. There is also room for one or 2 rotation sensors on Axle 6. There is just a few mm to mount the screw which forms Axle 6. Already have an account? I have also taken the opportunity to add new documentation and improve the existing one in order to make the project accessible to more people. Thanks Sepio,Which firmware did you use for the ultratronics board? To make things easier, I was looking for a single model which could fit in the 4 articulations. But in the heathen times of the northern nations it was the Wagon of Odin, Woden, or Wuotan, the father of Thor, and the Irmines Wagen of the Saxons. This is the top part of Art 3. I am still learning how the arduino stuff works. And the lower part. EASY CLAIMS PROCESS: File a claim anytime online at www.Asurion.com/Amazon or by phone. There is a nut in de orange part with the axle. I did a redesign of the Art 3 upper and lower body and the Art4 Axle. The small black part is the plug. There is a growing need for high-speed, robotic assembly of small parts. Below the Art 3 upper and lower part are mounted together. Just hold the inside and the outside of the bearing in place and fill the hole with balls. and last updated 4 years ago. There are some ventilation holes on the back side. 29.57 kB - Attach the Claw. I did my best to gather all existing project documentation in one place. If you open this file in Fusion 360 (free for home use) then you are able to open the tree. I wanted to hide every motor and every single wire to make it more aesthetic. On the left of the left fan hole (and on the right of the right hole) the wall is too thin. The second version can be downloaded below. So i ordered GT2 232 mm belts. I have a Tevo Black Widow and I will try to do a amazig job as youve done. I also changed a few parts of Art 5 and 6. That's why I decided to make my own program to control Thor. I don't know why but the notifications were off :(, Hello, did anyone From germany build this very cool Thing? I don't know if I'll be that patient Woah, more than 300 followers! This stays unchanged. They are fast, kind and very cheap :D And the quality of the PCBs is incredible, very professional. I added some holes for the nuts on the ring which fixes the Art 6 Axle. I want a robot that is able to act as laser engraver or mill thin plywood. Could you tell me servo motor model?I have built Thor and now trying operate Gripper(Hs 311 servo motor).But it didn't operate well.Thank you :). The sensors fit, but presumably the connector of each sensor will have to be replaced with other flatter. Im back! a member for this project? He is an awesome maker who did an excelent job recording and documenting the assembly of a Thor v1. The wrist in particular is superior to AR2's. So I already added a hole to the Art56Interface (on the right side). All rectangle where shaped as diamonds. There are (at least) 4 Thors assembled & operational around the world and another 17 being built! Make It Your Way! So, without further ado, these are the changes I made in the design (on the left side the old design and on the right side the new design): The sensor for the 1st Articulation is now fixed to the BaseBot piece. The left orange parts can be glued and screwed together. We found From right to left. It contains a custom bearing. The display chips become extremely hot so I created some vent holes on the top, bottom and on the back. Lets try to not reinventing the wheel! It worked well. You can modify the interface, placing the mounting holes wherever you need them. Made by ngel L.M. Nema 17; L=40mm; Holding torque: 39.22 N.cm, Important Announcement: Community migration & Thor v2.1, Danny made some modifications to largest pieces, BaseBot modification made by Ctrl-Alt-Dude, https://www.thingiverse.com/thing:1611164. Below the renderings of this new design. You will need to install FreeCAD in order to open any FreeCAD file. General rule is:If you want to keep EMI inside the cable, ground both ends. In my opinion, this is the best way to learn how to assembly anything. First put a bearing on the top side. In its extended position, Thor is about 625mm high and can lift loads up to 750 grams. Thor - Assembly - YouTube 0:00 / 1:28 Thor - Assembly 40,424 views Aug 10, 2016 Assembly of Thor, the OpenSource & printable Robot Arm. I ordered them for 21,50 euro including shipment fromlagerkonning.nl. Sure it is a great project to learn lots about robotics, firmware and maybe ROS too. This way the electrical wire will stay out of the belts way. There is a little bit extra room for the motors in the upper position. I am momentarily trying to use I2C to talk to the usb host for the ps4 controller. To be honest, until now it was pretty tricky I made my own sensors using a DIY CNC for the PCBs and soldering the components by myself. This board allows to control up to 8 stepper drivers (instead of 7 of the previous version). I changed the Art4 transmission Axle. . Its configuration (yaw-roll-roll-yaw-roll-yaw) is the same used by most of the manipulator robots on the market. What firmware did you use for the Ultratronics board and the Arduino nano? The art 4 has changed slightly. https://hackaday.io/project/26341-building-and-improving-the-thor-robot-arm/log/71425-day-20-latest-version. Sepio I downloaded your STEP files but my Solid Works couldnt import them . This makes it possible to lay it flat on the table or put it upright. Robot extensions can be customized to your manufacturing requirements. and Generally shielded wires are only grounded on one end. Thank you for your likes, your comments, your feedback, for sharing the project, contributing to it and for building a Thor. Exciting! It took me about 3 spools of 1kg to print all the pieces. Salve sono il proprietario di un piccolo canale youtube chiamato elettropianensi, mi piacerebbe discutere di questo braccio. And if it rotates the screw becomes looser. If you open any assembly file you will see how printed parts and other components (bearings, motors, bolts, nuts) are assembled. This compartments is optional. And you can capture the gestures with a Kinect sensor. The main purpose of this project was to design a robot that could be used in universities and schools to teach robotics.With this in mind, the design had to be affordable and accessible. Step 4 After, connect the robot arm based part. The downloadable version is 15.5 mm. The bearing fix. This way I can redesign the "big ring" part and add two bearings (the bearings shown are to big). There isn't much room but it fits. This version of the model is downloadable here: http://a360.co/2BDyFyW. Feel free to take a look and share your opinions! There is a small gap between the orange Art4 part and the Black Art 3 part. Do not hesitate if you want to collaborate in the development, help is always welcome! I will have to find a way to wire the rotation sensors. Eco-friendly wood sheets, necessary spare parts . Posso fare quanto detto in precedenza, un patto di imparare tutte le modifiche? Don't blame me for my question. Assembly robotic arms are used to automate tasks that involve putting products together including electronic components, machinery, furniture, and automotive assemblies. 08/03/2016 at 14:50, sla - It's a pleasure to watch your progress, I even want to change my weak parts by your ideas. Also the bearings of Axle 5 are removed. Perfect for this purpose. The easiest way to do this is to push the 12mm screw through the left assembly and put the nut on half a turn or so. Sono uno studente, vorrei usarlo, con le opportune modifiche, come progetto di maturit. Hulk (film) Here is a link to one of the first animatronic hand projects I worked on about 10 years ago. The Art5Top Covers are almost finished. Sure I could build a CNC machine for this but it would more cool to have a CNC robot. The design of the 4th articulation had an issue, I didn't find a commercial bearing adjusted to my needs. The Art3Body piece has been redesigned to fix the sensor of the 4th Articulation. Now it should be no problem to use PLA. The upper yellow part can also be mounted on the base without it. There is a small bump on the axle which can be aligned with the hole on the gear. It's also easier during programming because you don't have to remove the base cover to get to the SD card of the Nextion display. Now you can add anything interesting from the inventory on that clip. The ART56 interface place also contains a hole for future usage. I'm thinking to use mine for automating my 3d printer into a mini manufacturing line. You are about to report the project "Thor", please tell us the reason. 09/10/2017 at 17:35, Standard Tesselated Geometry - If you open the design file in Fusion 360 then you can see all printed and non printed parts. This follows on from the controversial $432,500 sale of a robot-produced artwork titled "Edmond de Belamy" in 2018. There is about 29 mm room on both sides of the axle. This is useful when you have to check the dimensions of the bolts, for example. Its configuration (yaw-roll-roll-yaw-roll-yaw) is the same used by most of the manipulator robots on the market. I want to gather all the features, improvements, crazy ideas that you would want to see in the new version of Thor. I like the whole robot, but I'm especially proud of these 3 solutions: This kind of transmission allows it to do two types of movements using two small gears that act over a big one. Ultimately, the story plays out to reveal that Nick Fury is responsible for the death of Uatu. I hope you like this project as much as I do,ngel L.M. With that in mind, online engineering site How To Mechatronics have created a controllable 3D printed robotic arm that is operated by a self-designed smartphone app. Marvellous! Dont worry if you mess up on any of these files, you can always download them again. Everything mounted. Grab two screws and secure the claw to the hand servo horn. This way it is possible to use two colors and it can be printed with less print support. If you want to keep the EMI outside the cable, ground one end.So if a signal is small in magnitude (think audio signal like microphone circuit) ground one end to keep interference from outside corrupting the signal inside the cable (including interference created by a ground loop if you were to ground both ends).If you are connecting something like a strobe signal (large AC signal) go ahead a ground both ends as goal is to make sure what is inside doesn't radiate to the outside (groundloop induced corruption of the large strobe signal is a non-issue).In the case of an RS-232 signal you have a fairly large signal [5V or more Peak to peak) running at almost 10KHZ baseband frequency (or more)]. Become a member to follow this project and never miss any updates, About Us Thor has been developed using only open source tools: FreeCAD for the 3D modeling, KiCAD for the PCB design and GBRL as firmware for the control electronics. The hole in small orange gear is much bigger then the GT2 pulley. Below on the bottom the old version. Inspired by a solution that some users used for the Ciclop's bearing, I designed the bearing using 6mm airsoft balls as bearing balls. (In a later stadium i used a knife to remove the bump. Zip Archive - Hi Zubiar, which part of the connections are you missing? The project started in 2015 as a final degree project called Design and implementation of an Open Source, 3D printed 6DOF robotic arm. Don't use a cheap chinese geo-triangle for calibration purposes. Below all the new/changed parts of the Art 3 upper body and the Art 4 shaft. From the beginning, the project was very well received. Step 1: install the bearing and base Tip Question Comment Step 2: install the arm, since the pictures are two big. So I might redesign this. It took me a few hours to understand the values that I had to set (track width, drills diameters, etc.) I chose pololu A4988 as stepper drivers. I was looking for a 6DOF robot arm to print. I'll be posting there my progress and changes too (I will still doing that here too). 2. Assembly - Steps 24, 25. An Open Source 3D Printable 6DOF Robotic Arm. Love the project. This way you have 3 options to include a tool on Thor: 1. Does anybody out there have the dynamics model? The project has a hackaday page, and a github one. I2C with the PS4 controller LOL First you need pull up resistors, Danny warned me about this and he was right.Second I think there is a bug in the firmware on I2C that does not happen when you use Serial. It works with 5V and gives a 3.3V output which can be used on both the 3.3v due and the 5v arduino. The main purpose of this project was to design a robot that could be used in universities and schools to teach robotics.With this in mind, the design had to be affordable and accessible. 7.50 MB - The solution was one of the serendipitous ideas I have mentioned early. Thor ControlPCB ControlPCB is the board used in the Thor project to control the stepper motors that drive the robotic arm. (You need a shielded 4 wire cable). I added some 40x40x11mm cooling fans to the ART4BottomBody . The SCARA Robotic Arm will be controlled via USB cable or WIFI. I have many questions! Afterwards, remove the stickers. In the image below on the top the motor mount (and motor) are touching the mount with the screw hole. (it has to be removable). Never found any information about precision. Learn More. Its configuration (yaw-roll-roll-yaw-roll-yaw) is the same used by most of the manipulator robots on the market. You are about to report the project "Building and improving the Thor+ robot arm", please tell us the reason. Also, from the very beginning I wanted everyone to became part of this project and share all the information. Hence, ground both ends. Below the Base part. Its replaces the potmeter in the Base and in Art3LowerBody. It received tons of views, likes, comments, forksAnd more important than the "fame", the feedback started to arrive. Great Project! The cost of the whole materials is under 350. That's why I've taken the trouble to migrate all the messages to a forum hosted on the new site, much more intuitive to use in my opinion. Sorry, I'm building a cheap Thor design, and I need the schematic of the PCB to control the robot motors, I saw the original board and it is impossible to make it with the elements that I have, so I need the schematic to be able to do it myself. The upper bearing. The small orange gears and Pulleys are (going to be) connected with a screw. PTEG is a very dificult filament to work. Building a 6-axis robot arm based on the AngelLM's Thor robot and the add-on's and improvements of dannyvandenheuvel. I also made them in two parts. For some pieces supports are needed. I need this schematic please, if someone can give me the file I would really appreciate it, https://cdn.hackaday.io/images/6778151470241404077.jpg, Hi! Quantity. All Universal Robots' robotics arms are certified IP-54. An upper robot arm is. In its upright position, Thor is about 625mm and it can lift objects up to 750 grams. 745.20 kB - It is possible to remove or add a M5 spacers (two steps up) to change the gap between the gears. The only corner that wasn't perpendicular was that of the cheap chinese geo-triangle My free tip. I am going to make the hole smaller for the pulley. In this project I will share my building of experience of Danny's version of the Thor robot. There is also room for a 40x40 fan. The changed and new parts can be downloaded here: -Art56MotorCoverRing_01.stl-Art56GearPlateAxleHolder_01.stl-Axle6Fixer.stl-Art56SmallGear_For16x7PulleyShaft_01.stl -Art56SmallGear_For20x6PulleyShaft_01.stl. ThorRobotics NEW ROV Underwater Drone Camera Dragonfish 200H With Manipulator Arm $11,888.00 $12,468.00 ThorRobotics ROV Underwater Drone 4K View FPV With Mechanical Arm Lite KIT DIY $998.00 $1,078.00 ThorRobotics USV New Unmanned Intelligent RC Lifebuoy Housing 2.4G Remote Control Lifebuoyremote Rescue Rope Life Saving Devices $2,098.00 $2,208.00 You can watch the whole process before assembling your own and see the tricks and difficulties. (It takes a while for the browser to render. Below a rendered preview of the new design. This way the bearing is fixed at its place. Finally, I chose optoisolators and a micro-endstop in order to establish a home position for the first five articulations. Robot arm kit Arduino UNO board PWM servo motor driver Servo motors Jumper wires Step 2 Secondly, take the robotic arm kit and remove the parts one by one. Also, the Art23Optodisk has been redesigned to work properly with the new distances. The last few weekends I made an enclosure for the power supply. Easy to use and accurate hand eye calibration which has been working reliably for years (2016-present) with kinect, kinectv2, rgbd cameras, optical trackers, and several robots including the ur5 and kuka iiwa. It can be assembled in several ways for multiple tasks such as moving objects. Most of them are named correctly. A lamp made of 930 laser cut parts in a heavily geometric design, An octopodal robotic platform for rough terrain exploration, A personal project to overhaul my home lab setup, and install new benches, Mini mill made from cheap Chinese parts and a pile of 2x4 scraps, Day 19: Taller Art4LowerBody + New Art4PCBBody. The fan is mounted on the inside. I am happy with the current setup. I splitted this axle into 2 parts. Privacy Policy When the small gears rotate in opposite directions, the big gear rotates around its own axis. Thank you - Congratulations again. Step 25 is simply to leave the machine screw in the assembly to make it easier to attach it later on. using Blender & Blend4Web. I ask before starting to print the arm. The fan intake. Open Source Reconfigurable Robot Arm for Learning STEM. Then I laid the test print on the green cutting mat and it was already perfect the first time. (If you experience any. To make the rotation sensor work the Axle has to be fixed inside the gear. Its configuration (yaw-roll-roll-yaw-roll-yaw) is the same used by most of the manipulator robots on the market. In the new version a real axle is used and it is guided by two bearings. a member for this project? (A rotary encoder makes it possible to continue rotating). EDIT: I forgot to say that I also did a Frequently Asked Questions in order to answer them :). That doesn't work ;-). Then somebody pointed me to the Thor OpenSource 3D printable Robotic Arm from Angel LM. DannyvandenHeuvel created the Thor+ robot which is an improved version with many add-ons. I have only tested it using the 3D models. Along with the source files you will find the FreeCAD Assembly Files. (I might even be able to keep the shaft hollow to guide some wires). At Thor's Website will find updated info about this project, manuals, list of materials, the community forum and much more. There is some room for the air to escape. Below a few photo's of the idea I have. There are 37 different printable pieces in Thor. Of course, I shared it on the Thor's Github repository. This board is based on RAMPS 1.4 and acts as a shield for an Arduino Mega, supporting up to 8 stepper drivers (A4988 and compatible). Designed in FreeCAD 0.19 and based on an old redesign I started a few years ago, Thor v2.1 is now available for download. To date, more than 20 units have been built in at least 11 different countries. Con modifiche intendo: l'utilizzo di questo robot cnc per la realizzazione di pcb. Assembly Robots. This has been possible thanks to the 2 layers board, and it will allows to simply connect a ribbon cable with a 2x18 connector without "hacking it". The story of Thor losing his arm begins in Marvel's comic event, Original Sin. For the transmission of the third, fifth and sixth articulation I have used GT2 Pulleys and GT2 Belts. Drag and drop the buttons as shown in video. Hackaday API. The Poles call it Woz Niebeski, the Heavenly Wain. [ Assembly Tips ] - 149-pcs-project requires great patience and carefulness. The robot servo motor and other components are housed in the Case, which is made of plastic. I have migrated the users, but not the passwords, so if you had posted a message in this group you will have your user created in the new forum. 11/05/2017 at 11:57, Zip Archive - Click at the link on the bottom of this blog. I recently discovered that I can build a 6DOF arm with my printer. Thor is an Open Source and printable robot arm with six degrees of freedom. The automotive industry was one of the first to adopt industrial robots for assembly. As a birthday gift I want to boost this project, but I'll need help from the community to do it. Everyone can access, everyone can ask/answer/show, it's easy and clear and it's free. data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAKAAAAB4CAYAAAB1ovlvAAAAAXNSR0IArs4c6QAAAnpJREFUeF7t17Fpw1AARdFv7WJN4EVcawrPJZeeR3u4kiGQkCYJaXxBHLUSPHT/AaHTvu . If you want to include the home sensors, you will need to make the PCBs and weld the components. The inner ring has to go on the inside and can be used to push the bearing on its place. Let the oil soak for about 20 minutes so it can lubricate the threading on the bolt and make it easier to remove. Because I never found any video of people using their robots for anything useful, I want to ask what it can be used for (really). Hi Luiz, there was a problem with the Google Group but now it's fixed and you should be able to join it! A screw is used to hold the big gear of Axle 6 on top of the small gears. The Robotic Arm with Gesture Control (Arduino + Kinect) This project involves directing a robotic arm with gestures. Some are printed with PETG. I used some tape to hold the plug in place. Already have an account? Splicing shouldn't be a problem.That depends. In this way I want to share all the info I have with you all. It has been more than a year since I released the Thor project. And I designed a "shield" to make possible the control of 7 steppers. This way, actuating over the two small gears allowed me to place the steppers as lower as I could, transmitting the movement with GT2 belts and reducing the torque generated by the motor's weight. Hi all, I see that it is recommended to use 5:18 to 1 Nema 17 34mm stepper motors but I can only find 42mm motors with an overall length of 70mm, is there enough room in the arm to install these motors? There is one big axle. There you can download all formats. The author has designed with FreeCAD all 3D printable parts, along with sensors, actuators and other materials. Tip Question Comment Step 3: Intall the Arm this is the step for the arm. The axle with the holder can now be fitted into the big gear. From now I'll group all info there and I'll be answering the questions there. Now take a slant 2by1 and attach it to the 1by1. Below my print setup. This is really amazing, I am gonna build one. Now its finally printed and its available below. Yay! The UR robot can be used in most assembly applications. And then I found the'Thor' robot with addons and GUIfrom Dannyvandenheuvel. As this project has attracted different kinds of people, I thought that it could be nice to simplify this issue: making Thor compatible with commercial sensors instead of creating the custom ones. Also, I migrated the design to FreeCAD in order to have the source files too ;), EDIT 21/12/16: I have migrated another 2 modifications to FreeCAD :), On the left, my remix of Art4Body modification made by Danny. If both the left and right small orange gear are rotating in the same direction then Art 6 is going up or down. I will be happy to know what do you think about this! The second version is printing right now. . A big way to enhance these 3D printed robotic arm projects is to integrate technology that everyone has access to. Creative Commons Attribution-ShareAlike 4.0 International License. and Thor is an Open Source and printable robot arm with six degrees of freedom. Automotive manufacturing - essentially the first industry to standardize on robotic automation - utilizes heavy-duty six axis robots to increase capacity and improve quality in their manufacturing processes.. Today, assembly line robots stretch far beyond automotive, as we see more and more . Its configuration (yaw-roll-roll-yaw-roll-yaw) is the same used by most of the manipulator robots on the market. Did you ever test your robot or even did you ever powered it up? It will save my wallet! Do not over tighten. We have opted to create our own Robotics Control Board, the DEVIA. But why are you connecting the usb host controller to the analog pins and not the 2 dedicated I2C ports on the right? Some design solutions are inspired by commercial robots, others are the result of hours of work and others are just serendipitous ideas. All files included in this repository are licensed under a Creative Commons Attribution-ShareAlike 4.0 International License. No problems detected after it. This is how it will look with the gripper mounted. Are you sure you want to remove yourself as But I don't really understand how it has to be mounted. Hello everyone! 11/05/2017 at 15:24, step - Download the app "Bluetooth Electronics" from Playstore. The outside is about 20mm. Shared under CC-BY-SA 4.0 License under CC-BY-SA 4.0 License After cleaning I use a (very) little bit of 3DLAC. Or press the download button on the right top to download the model). The axle hole in the plastic gear is a little bit bigger. The United States' Apollo 11 was the first crewed mission to land on the Moon, on 20 July 1969. I already ordered a few different sized 6xxx series ball bearings. For the two last DOF I chose smaller steppers with the purpose of reducing their weight. Sign up. You will find the full resolution image & source files at the Github repo. They will freely rotate on the Axle and are driven by two motors. You should see the slot for the pig on part #7 (the front strut). Grab a screw and place it in the center of the hand servo horn. $3,130 00. Many people liked the robot, but not the way to control it. An error occoured on phase two. Very interesting project on that you are working I am also doing the same job here onpjsbuildingservicessite and this will help me to boost my projects quality. Again you'll use a couple of the self-tapping screws that came with the servo motor. So the package includes electronics and remote control. The Nextion was fitted in the base cover. I will take them all in account! Were there any exceptions to the 3D material use for your print on certain parts. I don't know why but the notifications were off :(. Newest Automatic Arc Welding Robot Station Automation Assembly Machine Industrial Pick And Place Robotic Manipulator Factory Buy Automatic Vehicle . The upper part with room for the PCB. The cover contains the bearing and this will tighten the belt. Below are the main assembly robot configurations: #1 Delta Robots 991.29 kB - And voila! Can you please tell me what servo you did use in your project? This makes printing easier. Instead of integrating a gripper into the design I decided to make an adaptable design making an interface between the end-effector and the robotic arm. Many Git commands accept both tag and branch names, so creating this branch may cause unexpected behavior. . LAST REVISION: 12/06/2022, 01:44 PM The TinkerKit Braccio is a fully operational robotic arm, controlled via Arduino. Then, take a box-end wrench and slide a hollow metal bar over the handle so you can add length and give you more torque to turn the wrench.Fit the wrench over the head of the stuck bolt and hold it at the very end of the bar.. "/> thanks! Thank you too! FYI: the last commit where you can find the older files (the ones for the custom sensors) is this one: b86594c4d48fa64d71cc373a52b4e3dac6e4bde9. Already have an account? And this is not the only change I am proud to announce. Of course using OpenSource software, KiCad again. I didn't use one). It's also a service that Google could eliminate from one day to the next, losing all the information there. If you open any assembly file you will see how printed parts and other components (bearings, motors, bolts, nuts) are assembled. There is just enough slack to mount the belt. Save $20 Quantity. Eventualmente specificatemi colomba pubblicarle. You signed in with another tab or window. I have been in other communities of Google Groups and it works so well. If you are reading this close to the publish date, you will find the new PCB files in the ControlPCBUpdate branch. By rotating the gear 60 degrees it is possible to increase or decrease the length of the axle and the force on both bearings. Contact Hackaday.io After a question of Olaf I tried to tilt the display on the base plate. Easier assembly: the Silkscreen is a nice helper! Small ball bearings will be added to the small gears. The EVI is at-risk of becoming extinct. Log In. I tried to create stl files from the fusion 360 project and hit issues because the claw alignment is slightly out. Could you please post it in english? Danny added the feedback sensors in V2.02. I have test printed it and everything fits but i made some of the walls too thin (on the left and right side of the vent holes). The stl file of the gripper part does not exist in the githup folder. Thor is an Open Source and printable robot arm with six degrees of freedom. Give Feedback Terms of Use In its extended position, Thor is about 625mm high and can lift loads up to 750 grams. After a few tries the pulley was having the right length. This is the first version and there are two small problems. If you run out of screws, feel free to pull some screws from the base of the robot. This project was The m3 nut is 5.5 mm the hole is 5mm.. Log In. The middle part with the ring contains a nut on which the Art 6 Axle with the big orange gear is mounted. 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